Driver compilation

The following guide enables anyone to compile the drivers on its own machine, a new Jetson or simply recompile.

By "drivers" we mean the dynamic library files and the header files for ethercatcpp-epos, ethercatcpp-core, pid-signal_manager, xcontrol and soem.

Steps

• Clone the PID repo

git clone https://github.com/lirmm/pid-workspace

• Configure the workspace

cd pid-workspace
./pid configure

• Goto packages and clone the xcontrol repo

cd packages
git clone https://github.com/EPFLXplore/Xcontrol xcontrol

• Build

cd xcontrol/build
cmake .. -DBLUID_EXAMPLES=ON
make build

• Retrieve the lib/include files

Trust me, the process is long and boring. Fortunately, bash scripts exist.

First clone this repo outside of pid-workspace.

git clone https://github.com/EPFLXplore/DriverCompilation

Then copy the script gather_libs.sh to pid-workspace and execute it:

sudo chmod 755 gather_libs.sh
./gather_libs

The result is stored in gathered_libs in the same folder.

• The last step is to copy those files into the ROS project directory