General build instructions

Dependencies

The components within this repository have some dependencies:

Dependencies provided by Ubunutu (>= 16.04):

  • Boost
  • pugixml
  • gtest
  • libpython-dev

Those can be installed by calling:

$>  sudo apt-get install libboost-all-dev libpugixml-dev libgtest-dev libpython-dev

Additional dependencies for the python bindings:

$>  sudo apt-get install castxml
$>  pip install --user pygccxml pyplusplus xmlrunner

Remaining dependencies are present as GIT submodules; also to fix the version of these:

  • ad_map_access
  • ad_map_opendrive_reader
  • ad_physics
  • spdlog
  • proj

Building

For compiling all libraries (and potentially also some dependencies), it is suggested to use colcon. Please use the link above for installation instructions.

This repository is prepared as colcon workspace including all dependencies not provided as installable packages by the OS. Those dependencies are part of the dependencies folder as GIT submodules. To properly fetch these, the submodules have to be updated and initialized.

 ad_rss$>  git submodule update --init

Colcon build

Once this is done, the full set of dependencies and components can be built calling:

 ad_rss$> colcon build

All components will be compiled respecting the dependencies between them.

There are some CMake options affecting what or how the components are built. These can be applied to all components by appending them to the call (together with the additional --cmake-args):

 ad_rss$> colcon build --cmake-args -DBUILD_TESTING=ON

When activating the Unit tests, they all can be executed with:

 ad_rss$> colcon test

The python bindings are disabled by default. To integrate them into the build you can make use of the prepared colcon meta file:

 ad_rss$> colcon build --metas colcon_python.meta

colcon_python.meta enables python build (-DBUILD_PYTHON_BINDING=ON) and as well static build (-DBUILD_SHARED_LIBS=OFF) to ease the usage of the python modules as they don't require extending the LD_LIBRARY_PATH when linked statically against its non-system dependencies.

Plain CMake build

The ad_rss (same applies to the other libraries) library is built with a standard cmake toolchain. Therefore, a full list of step by step calls could look like e.g.:

 ad_rss$> mkdir install
 ad_rss$> mkdir -p build/{proj,spdlog,ad_physics,ad_map_opendrive_reader,ad_map_access,ad_rss,ad_rss_map_integration}
 ad_rss$> cd build/proj
 ad_rss/build/proj$> cmake ../../dependencies/PROJ -DCMAKE_INSTALL_PREFIX=../../install/proj -DCMAKE_POSITION_INDEPENDENT_CODE=ON
 ad_rss/build/proj$> make install
 ad_rss/build/proj$> cd ../spdlog
 ad_rss/build/spdlog$> cmake ../../dependencies/spdlog -DCMAKE_INSTALL_PREFIX=../../install/spdlog -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DSPDLOG_BUILD_TESTS=OFF -DSPDLOG_BUILD_EXAMPLE=Off
 ad_rss/build/spdlog$> make install
 ad_rss/build/spdlog$> cd ../ad_physics
 ad_rss/build/ad_physics$> cmake ../../dependencies/map/ad_physics -DCMAKE_INSTALL_PREFIX=../../install/ad_physics -DCMAKE_PREFIX_PATH=../../install/spdlog
 ad_rss/build/ad_physics$> make install
 ad_rss/build/ad_physics$> cd ../ad_map_opendrive_reader
 ad_rss/build/ad_map_opendrive_reader$> cmake ../../dependencies/map/ad_map_opendrive_reader -DCMAKE_INSTALL_PREFIX=../../install/ad_map_opendrive_reader -DCMAKE_PREFIX_PATH="../../install/proj;../../install/spdlog;../../install/ad_physics"
 ad_rss/build/ad_map_opendrive_reader$> make install
 ad_rss/build/ad_map_opendrive_reader$> cd ../ad_map_access
 ad_rss/build/ad_map_access$> cmake ../../dependencies/map/ad_map_access -DCMAKE_INSTALL_PREFIX=../../install/ad_map_access -DCMAKE_PREFIX_PATH="../../install/proj;../../install/spdlog;../../install/ad_physics;../../install/ad_map_opendrive_reader"
 ad_rss/build/ad_map_access$> make install
 ad_rss/build/ad_map_access$> cd ../ad_rss
 ad_rss/build/ad_rss$> cmake ../../ad_rss -DCMAKE_INSTALL_PREFIX=../../install/ad_rss -DCMAKE_PREFIX_PATH="../../install/spdlog;../../install/ad_physics"
 ad_rss/build/ad_rss$> make install
 ad_rss/build/ad_rss$> cd ../ad_rss_map_integration
 ad_rss/build/ad_rss_map_integration$> cmake ../../ad_rss_map_integration -DCMAKE_INSTALL_PREFIX=../../install/ad_rss_map_integration -DCMAKE_PREFIX_PATH="../../install/proj;../../install/spdlog;../../install/ad_physics;../../install/ad_map_opendrive_reader;../../install/ad_map_access;../../install/ad_rss"
 ad_rss/build/ad_rss_map_integration$> make install
 ad_rss/build/ad_rss_map_integration$> cd ../..
 ad_rss$> echo "Hurray, all built!"

CMake options

There are some build options available:

  • BUILD_TESTING: Enables unit tests compilation
  • BUILD_APIDOC: Enables API documentation building
  • BUILD_HARDENING: Enables hardening compiler and linker flags
  • BUILD_PYTHON_BINDING: Enables the build of the respective python bindings
  • PYTHON_BINDING_VERSIONS: standard search for python boost bindings is for multiple versions e.g. "2.7 3.5 3.6. 3.7" (see cmake/python-binding.cmake for details); this search can be restricted from outside if this variable is set (Default not-set).

By default, all options are set to off. Any of these could be activate by adding them to the initial cmake call above as "-D

Unit tests

When BUILD_TESTING is enabled, the "make" call will automatically compile the Unit tests. They can be executed using CMake's ctest application.

 ad_rss/build/ad_rss$> cmake ../../ad_rss -DCMAKE_INSTALL_PREFIX=../../install/ad_rss -DCMAKE_PREFIX_PATH="../../install/spdlog;../../install/ad_physics" -DBUILD_TESTING=ON
 ad_rss/build/ad_rss$> make install
 ad_rss/build/ad_rss$> ctest

API documentation

When BUILD_APIDOC is enabled, the "make" call will automatically generate the API documentation.

 ad_rss/build/ad_rss$> cmake ../../ad_rss -DCMAKE_INSTALL_PREFIX=../../install/ad_rss -DCMAKE_PREFIX_PATH="../../install/spdlog;../../install/ad_physics" -DBUILD_APIDOC=ON
 ad_rss/build/ad_rss$> make install

The API documentation is written to the apidoc folder within the build directory.

Build hardening

Usually, build hardening is injected by the surrounding build system. Nevertheless, the CMakeLists.txt defines hardening flags to ensure the code is compatible to respective flags. To enable hardening compiler and linker flags:

 ad_rss/build/ad_rss$> cmake ../../ad_rss -DCMAKE_INSTALL_PREFIX=../../install/ad_rss -DCMAKE_PREFIX_PATH="../../install/spdlog;../../install/ad_physics" -DBUILD_HARDENING=ON
 ad_rss/build/ad_rss$> make install

Python binding

With this option enabled, Python bindings are generated and compiled. When compiling Python bindings it's recommended to build and link the other libraries statically to prevent from dependencies on the LD_LIBRARY_PATH at execution time. This option is disabled by default. You have to enable the python binding also on the respective dependent component. ad_physics in this case.

 ad_rss/build/ad_rss$> cmake ../../ad_rss -DCMAKE_INSTALL_PREFIX=../../install/ad_rss -DCMAKE_PREFIX_PATH="../../install/spdlog;../../install/ad_physics" -DBUILD_PYTHON_BINDING=ON -DBUILD_SHARED_LIBS=OFF
 ad_rss/build/ad_rss$> make install