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INSTALL-ROS1.md

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Build on Linux ROS1

Run the following steps to build sick_scan_xd on Linux with ROS 1:

  1. Create a workspace folder, e.g. sick_scan_ws (or any other name):

    mkdir -p ./sick_scan_ws
cd ./sick_scan_ws

  2. Clone repositories https://github.com/SICKAG/libsick_ldmrs, https://github.com/SICKAG/msgpack11.git and https://github.com/SICKAG/sick_scan_xd:

    mkdir ./src
pushd ./src
git clone https://github.com/SICKAG/libsick_ldmrs.git
git clone https://github.com/SICKAG/msgpack11.git
git clone https://github.com/SICKAG/sick_scan_xd.git
popd
rm -rf ./build ./build_isolated/ ./devel ./devel_isolated/ ./install ./install_isolated/ ./log/ # remove any files from a previous build

  3. Build msgpack11 library (required only once for multiScan136):

    mkdir -p ./build/msgpack11
pushd ./build/msgpack11
cmake -G "Unix Makefiles" -D CMAKE_CXX_FLAGS=-fPIC -D CMAKE_BUILD_TYPE=Release -D MSGPACK11_BUILD_TESTS=0 ../../src/msgpack11
make
sudo make install
popd

  4. Build sick_generic_caller:

    source /opt/ros/noetic/setup.bash # replace noetic by your ros distro
catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -Wno-dev
source ./devel_isolated/setup.bash
# source ./install_isolated/setup.bash

    For ROS versions other than noetic, please replace source /opt/ros/noetic/setup.bash with your ros distribution.

Note: libsick_ldmrs is only required to support LDMRS sensors. If you do not need or want to support LDMRS, you can skip building libsick_ldmrs. To build sick_generic_caller without LDMRS support, switch off option BUILD_WITH_LDMRS_SUPPORT in CMakeLists.txt or call catkin_make_isolated with option -DLDMRS=0:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -Wno-dev

Note: msgpack11 is only required to support multiScan136. If you do not need or want to support multiScan136, you can skip building msgpack. To build sick_generic_caller without multiScan136 support, switch off option BUILD_WITH_SCANSEGMENT_XD_SUPPORT in CMakeLists.txt or call cmake with option -DSCANSEGMENT_XD=0:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DSCANSEGMENT_XD=0 -Wno-dev

cmake flags can be combined. Use flags -DLDMRS=0 -DSCANSEGMENT_XD=0 to build without LDMRS and without scansegment_xd support:

catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0 -Wno-dev

Summary for the different build options:

  • Without LDMRS-support and without Multiscan136 support
   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -DSCANSEGMENT_XD=0 -Wno-dev
  • Without LDMRS-support and with Multiscan136 support
   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DLDMRS=0 -Wno-dev
  • with LDMRS-support and without Multiscan136 support
   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -DSCANSEGMENT_XD=0 -Wno-dev
  • with LDMRS-support and with Multiscan136 support
   catkin_make_isolated --install --cmake-args -DROS_VERSION=1 -Wno-dev

Note: To create source code documentation by doxygen, run

cd ./doxygen
doxygen ./docs/Doxyfile