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| RTI Connext DDS | ||
| =============== | ||
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| .. contents:: Table of Contents | ||
| :depth: 1 | ||
| :local: | ||
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| A libraries-only version of RTI Connext DDS 6.0.1 may be installed per the :doc:`installation instructions <../../Installation>` for | ||
| Debian/Ubuntu Linux (amd64) platforms only, under a `non-commercial license <https://www.rti.com/ncl>`__. | ||
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@@ -24,3 +28,174 @@ To install RTI Connext DDS **version 6.0.1** Evalution: | |
| * Contact [email protected] for an evaluation license. | ||
| * Install RTI Connext 6.0.1 by running the installation program. When finished, it will run the RTI Launcher. | ||
| * Use the RTI Launcher to install the license file (rti_license.dat) if needed. The launcher may also be used to launch the diagnostic tools and services. | ||
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There was a problem hiding this comment. Move RTI Connext DDS specific procedure in the RTI Connext page. |
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| Detailed instructions for each platform are provided below. | ||
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| Ubuntu Linux source install | ||
| --------------------------- | ||
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| RTI Connext (version 6.0.1, amd64 only) | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| Deb packages provided in the ROS 2 apt repositories | ||
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | ||
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| You can install a deb package of RTI Connext available on the ROS 2 apt repositories. | ||
| You will need to accept a license from RTI. | ||
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| .. code-block:: bash | ||
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| sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds rti-connext-dds-6.0.1 | ||
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| Source the setup file to set the ``NDDSHOME`` environment variable. | ||
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| .. code-block:: bash | ||
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| cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - | ||
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| Note: when using ``zsh`` you need to be in the directory of the script when sourcing it to have it work properly | ||
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| Now you can build as normal and support for RTI will be built as well. | ||
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| Official binary packages from RTI | ||
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | ||
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| You can install the Connext 6.0.1 package for Linux provided by RTI, via options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
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| After downloading, use ``chmod +x`` on the ``.run`` executable and then execute it. | ||
| Note that if you're installing to a system directory use ``sudo`` as well. | ||
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| The default location is ``~/rti_connext_dds-6.0.1`` | ||
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| After installation, run RTI launcher and point it to your license file (obtained from RTI). | ||
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| Add the following line to your ``.bashrc`` file pointing to your copy of the license. | ||
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| .. code-block:: bash | ||
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| export RTI_LICENSE_FILE=path/to/rti_license.dat | ||
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| Source the setup file to set the ``NDDSHOME`` environment variable. | ||
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| .. code-block:: bash | ||
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| cd ~/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - | ||
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| Now you can build as normal and support for RTI will be built as well. | ||
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| Ubuntu Linux binary install | ||
| --------------------------- | ||
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| RTI Connext (version 6.0.1, amd64 only) | ||
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ | ||
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| To use RTI Connext DDS there are full-suite install options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
| or you can install a libraries-only deb package of RTI Connext 6.0.1, available from the OSRF Apt repository | ||
| under a `non-commercial license <https://www.rti.com/ncl>`__. | ||
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| To install the libs-only deb package: | ||
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| .. code-block:: bash | ||
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| sudo apt update && sudo apt install -q -y ros-{DISTRO}-rmw-connextdds rti-connext-dds-6.0.1 | ||
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| You will need to accept a license agreement from RTI, and will find an 'rti_license.dat file in the installation. | ||
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| Add the following line to your ``.bashrc`` file pointing to your copy of the license (and source it). | ||
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| .. code-block:: bash | ||
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| export RTI_LICENSE_FILE=path/to/rti_license.dat | ||
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| All options need you to source the setup file to set the ``NDDSHOME`` environment variable: | ||
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| .. code-block:: bash | ||
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| cd /opt/rti.com/rti_connext_dds-6.0.1/resource/scripts && source ./rtisetenv_x64Linux4gcc7.3.0.bash; cd - | ||
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| Note: the above may need modification to match your RTI installation location | ||
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| If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. | ||
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| OSX source install | ||
| ------------------ | ||
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| RTI Connext (6.0.1) | ||
| ^^^^^^^^^^^^^^^^^^^ | ||
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| If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
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| You also need a Java runtime installed to run the RTI code generator, which you can get `here <https://support.apple.com/kb/DL1572?locale=en_US>`__. | ||
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| After installing, run RTI launcher and point it to your license file. | ||
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| Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. | ||
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| .. code-block:: bash | ||
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| source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash | ||
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| You may need to increase shared memory resources following https://community.rti.com/kb/osx510 | ||
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| If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. | ||
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| OSX binary install | ||
| ------------------ | ||
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| Enable Connext support | ||
| ^^^^^^^^^^^^^^^^^^^^^^ | ||
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| To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
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| After installing, run RTI launcher and point it to your license file. | ||
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| Source the setup file to set the ``NDDSHOME`` environment variable before building your workspace. | ||
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| .. code-block:: bash | ||
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| source /Applications/rti_connext_dds-6.0.1/resource/scripts/rtisetenv_x64Darwin17clang9.0.bash | ||
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| You may need to increase shared memory resources following https://community.rti.com/kb/osx510. | ||
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| If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. | ||
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| Windows source install | ||
| ---------------------- | ||
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| RTI Connext 6.0.1 | ||
| ^^^^^^^^^^^^^^^^^ | ||
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| If you would like to also build against RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
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| After installing, use the RTI Launcher to load your license file. | ||
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| Then before building ROS 2, set up the Connext environment: | ||
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| .. code-block:: bash | ||
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| call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" | ||
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| Note that this path might need to be slightly altered depending on where you selected to install RTI Connext DDS, and which version of Visual Studio was selected. | ||
| The path above is the current default path as of version 6.0.1, but will change as the version numbers increment in the future. | ||
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| If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. | ||
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| Windows binary install | ||
| ---------------------- | ||
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| RTI Connext | ||
| ^^^^^^^^^^^ | ||
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| To use RTI Connext DDS there are options available for :doc:`university, purchase or evaluation <./Install-Connext-University-Eval>` | ||
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| After installing, run RTI launcher and point it to your license file. | ||
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| Then before using ROS 2, set up the Connext environment: | ||
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| .. code-block:: bash | ||
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| call "C:\Program Files\rti_connext_dds-6.0.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" | ||
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| If you want to install the Connext DDS-Security plugins please refer to :doc:`this page <./Install-Connext-Security-Plugins>`. | ||
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Keep this page for overview and introduction for each RMW implementation.