一文搞定FastDDs的安装（ubuntu22.04+humble）

本篇文章介绍FastDDs的安装。实测有效。

1、依赖安装

sudo apt install cmake g++ python3-pip wget git

sudo apt install libasio-dev libtinyxml2-dev

sudo apt install libssl-dev

sudo apt install libp11-dev

sudo apt install softhsm2

sudo apt install libengine-pkcs11-openssl

pip3 install -U colcon-common-extensions vcstool

sudo apt install swig

sudo apt install libpython3-dev

2、clocon构建

mkdir ~/Fast-DDS
cd ~/Fast-DDS
wget https://raw.githubusercontent.com/eProsima/Fast-DDS/master/fastdds.repos
mkdir src
vcs import src < fastdds.repos

colcon build --packages-up-to fastdds

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

  echo 'source ~/Fast-DDS/install/setup.bash' >> ~/.bashrc

3、FastDDs-Gen的安装

sudo apt install openjdk-11-jdk

mkdir -p ~/Fast-DDS/src
cd ~/Fast-DDS/src
git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git fastddsgen
cd fastddsgen
./gradlew assemble

如果存在网络问题，运行以下内容：

nano gradle/wrapper/gradle-wrapper.properties

#修改对应的distributionUrl

distributionUrl=https\://mirrors.huaweicloud.com/gradle/gradle-7.6-bin.zip

mkdir -p ~/.gradle
nano ~/.gradle/init.gradle

#写入如下内容

allprojects {
    repositories {
        maven { url 'https://maven.aliyun.com/repository/public/' }
        maven { url 'https://maven.aliyun.com/repository/google/' }
        maven { url 'https://maven.aliyun.com/repository/gradle-plugin/' }
        maven { url 'https://mirrors.tuna.tsinghua.edu.cn/nexus/content/groups/public/' }
    }
}

ok,安装完成。笔者尝试了多种安装方法，这一套主要的问题点在于FastDDs-Gen安装时的网络问题，按照上述进行配置后，FastDDs就安装完成了。

更简单的请看之前的关于FastDDs的容器安装的文章。

附上FastDDs的官网地址：

https://fast-dds.docs.eprosima.com/en/latest/installation/sources/sources_linux.html