From 4b5a71872b89afbecd341fc49326a3d76e2d0f03 Mon Sep 17 00:00:00 2001 From: jncfa <20467009+jncfa@users.noreply.github.com> Date: Sun, 11 May 2025 10:09:26 +0000 Subject: [PATCH 1/2] add script to find connext installations and add instruction to install dependencies when building from source Signed-off-by: jncfa <20467009+jncfa@users.noreply.github.com> --- .../Working-with-RTI-Connext-DDS.rst | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst b/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst index b1b0f9cc779..7975b71f989 100644 --- a/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst +++ b/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst @@ -78,6 +78,13 @@ Clone the repository for ``rmw_connextdds`` into your ROS 2 workspace and select $ cd ros2_ws $ git clone -b {DISTRO} https://github.com/ros2/rmw_connextdds src/rmw_connextdds +Then, install necessary packages for RTI Connext DDS. + +.. code-block:: console + + $ cd .. + $ rosdep install --from src -i + Set up the environment to help colcon discover where RTI Connext is installed. This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation: @@ -85,6 +92,12 @@ This can be done by manually setting the environment variable ``NDDSHOME`` to th $ source ${RTI_CONNEXT_INSTALL_LOCATION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash +If you can't find the location of the RTI Connext installation, run this to find all Connext installations in your system: + +.. code-block:: console + + $ find /opt -name rtisetenv*.bash + Make sure you have the ROS 2 environment set up: .. code-block:: console From aa24d087c8690ad656f2822852f44be7f457613c Mon Sep 17 00:00:00 2001 From: jncfa <20467009+jncfa@users.noreply.github.com> Date: Tue, 27 May 2025 20:20:08 +0000 Subject: [PATCH 2/2] implemented suggestions from review, added note regarding different shells Signed-off-by: jncfa <20467009+jncfa@users.noreply.github.com> --- .../Working-with-RTI-Connext-DDS.rst | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst b/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst index 7975b71f989..0c8758bb58f 100644 --- a/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst +++ b/source/Installation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst @@ -86,18 +86,23 @@ Then, install necessary packages for RTI Connext DDS. $ rosdep install --from src -i Set up the environment to help colcon discover where RTI Connext is installed. -This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation: +This can be done by manually setting the environment variable ``NDDSHOME`` to the location of the RTI Connext installation, or by using a script that comes with the RTI Connext installation. For example, for version 7.3.0, you can run the following code to execute the helper script: .. code-block:: console - $ source ${RTI_CONNEXT_INSTALL_LOCATION}/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash + $ source /opt/rti.com/rti_connext_dds-7.3.0/resource/scripts/rtisetenv_x64Linux4gcc7.3.0.bash -If you can't find the location of the RTI Connext installation, run this to find all Connext installations in your system: +If the previous command failed, and you can't find the location of the RTI Connext installation, run this to find all Connext installations (and their corresponding helper scripts) in your system: .. code-block:: console $ find /opt -name rtisetenv*.bash +.. note:: + + Replace ``.bash`` with your shell if you're not using bash. + Possible values are: ``rtisetenv*.bash``, ``rtisetenv*.sh``, ``rtisetenv*.zsh``, ``rtisetenv*.tcsh``. + Make sure you have the ROS 2 environment set up: .. code-block:: console