5. Mac OS installation from sources — Fast DDS 2.14.2 documentation (2024)

5.1.1.1. Homebrew¶

Homebrew is a macOS package manager, it is needed to install some of eProsima Fast DDS’s dependencies.To install it open a terminal window and run the following command.

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"

5.1.1.2. Xcode Command Line Tools¶

The Xcode command line tools package is separate from Xcode and allows for command line development in mac.The previous step should have installed Xcode CLI, to check the correct installation run the following command:

gcc --version

5.1.1.3. CMake, g++, pip3, wget and git¶

These packages provide the tools required to install eProsima Fast DDS and its dependencies from command line.Install CMake, pip3 and wget using the Homebrew package manager:

brew install cmake python3 wget

5.1.1.4. Gtest¶

GTest is a unit testing library for C++.By default, eProsima Fast DDS does not compile tests.It is possible to activate them with the opportuneCMake configuration optionswhen calling colcon or CMake.For more details, please refer to the CMake options section.Also add the Gtest repository into the workspace directory.

git clone --branch release-1.11.0 https://github.com/google/googletest src/googletest-distribution

5.1.1.5. XML validation tool¶

XML validation is a new command introduced to validate the XML profiles against an XSD schema through Fast DDS CLI.That ensures the proper characterization of the entities using the xml profiles.

For more details, please refer to the xml section.

Install the xmlschema dependency to be able to use this optional tool.

See also

For further information about this Fast DDS version dependencies, as well as for the corresponding versions ofother related products, please refer to the Fast DDS Library dependenciessection.

5.1.2.1. Asio and TinyXML2 libraries¶

Asio is a cross-platform C++ library for network and low-level I/O programming, which provides a consistentasynchronous model.TinyXML2 is a simple, small and efficient C++ XML parser.Install these libraries using Homebrew:

brew install asio tinyxml2

5.1.2.2. OpenSSL¶

OpenSSL is a robust toolkit for the TLS and SSL protocols and a general-purpose cryptography library.Install OpenSSL using Homebrew:

brew install openssl@1.1

Note

The --cmake-args option allows to pass the CMake configuration options to the colcon build command.In Mac OS the location of OpenSSL is not found automatically and therefore has to be passed explicitly:--cmake-args -DOPENSSL_ROOT_DIR=/usr/local/opt/openssl -DOPENSSL_LIBRARIES=/usr/local/opt/openssl/lib.This is only required when building with Security.For more information on the specific syntax, please refer to the CMake specific arguments page of the colconmanual.

5.1.3.1. Run an application¶

When running an instance of an application using eProsima Fast DDS, the colcon overlay built in thededicated Fast-DDS directory must be sourced.There are two possibilities:

• Every time a new shell is opened, prepare the environment locally by typing thecommand:

  source ~/Fast-DDS/install/setup.bash

• Add the sourcing of the colcon overlay permanently to the PATH, by typing the following:

  touch ~/.bash_profileecho 'source ~/Fast-DDS/install/setup.bash' >> ~/.bash_profile

5.1.4.1. Local installation¶

1. Create a Fast-DDS directory where to download and build eProsima Fast DDS and its dependencies:

   mkdir ~/Fast-DDS

2. Clone the following dependencies and compile them using CMake.

   • Foonathan memory

     cd ~/Fast-DDSgit clone https://github.com/eProsima/foonathan_memory_vendor.gitmkdir foonathan_memory_vendor/buildcd foonathan_memory_vendor/buildcmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install -DBUILD_SHARED_LIBS=ONsudo cmake --build . --target install

   • Fast CDR

     cd ~/Fast-DDSgit clone https://github.com/eProsima/Fast-CDR.gitmkdir Fast-CDR/buildcd Fast-CDR/buildcmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/installsudo cmake --build . --target install

3. Once all dependencies are installed, install eProsima Fast DDS:

   cd ~/Fast-DDSgit clone https://github.com/eProsima/Fast-DDS.gitmkdir Fast-DDS/buildcd Fast-DDS/buildcmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install -DCMAKE_PREFIX_PATH=~/Fast-DDS/installsudo cmake --build . --target install

5.1.4.2. Global installation¶

To install eProsima Fast DDS system-wide instead of locally, remove all the flags thatappear in the configuration steps of Fast-CDR and Fast-DDS, and change the first in theconfiguration step of foonathan_memory_vendor to the following:

-DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON

5.1.4.3. Run an application¶

When running an instance of an application using eProsima Fast DDS, it must be linked with the library where thepackages have been installed, which in the case of system-wide installation is: /usr/local/lib/ (if localinstallation is used, adjust for the correct directory).There are two possibilities:

• Prepare the environment locally by typing the command:

  export LD_LIBRARY_PATH=/usr/local/lib/

• Add it permanently it to the PATH, by typing:

  touch ~/.bash_profileecho 'export LD_LIBRARY_PATH=/usr/local/lib/' >> ~/.bash_profile

Important

Even though earlier versions of Gradle support Java 8, Fast DDS-Gen stopped supporting Java versions previous toJava 11 since release v2.4.0.

Important

Fast DDS-Gen introduced support for Gradle 7 in release v2.2.0.Gradle 8 is not yet supported.

See also

For further information about Fast DDS-Gen product related versions, please refer to theLibrary dependencies section.

5.2.1.1. Java JDK¶

The JDK is a development environment for building applications and components using the Java language.Download and install it following the steps given in theOracle website.

Note

If Fast DDS has already been installed following Colcon installation, skip cloning Fast DDS-Gen’srepository, as it can already be found under the src directory within the colcon workspace.

Note

In case that a supported Gradle version is already installed in the system, Fast DDS-Gen can also be built runningdirectly:

gradle assemble

5.2.2.1. Contents¶

The Fast-DDS-Gen folder contains the following packages:

• share/fastddsgen, where the generated Java application is.

• scripts, containing some user friendly scripts.

  Note

  To make these scripts accessible from any shell session and directory, add the scripts folder path to thePATH environment variable using the method described above.