Fast-rtps 编译和调试

Refer to Colcon installation section in https://github.com/eProsima/Fast-RTPS to download Fast-rtps.

• Colcon installation

colcon is a command line tool to build sets of software packages.
This section explains to use it to compile easily Fast-RTPS and its dependencies.
First install ROS2 development tools (colcon and vcstool):

pip install -U colcon-common-extensions vcstool

Download the repos file that will be used to download Fast RTPS and its dependencies:

$ wget https://raw.githubusercontent.com/eProsima/Fast-RTPS/master/fastrtps.repos
$ mkdir src
$ vcs import src < fastrtps.repos

Finally, use colcon to compile all software:

$ colcon build

If you want to build for debug, please build by below command

$ colcon build --cmake-args -DCOMPILE_EXAMPLES=ON -DCMAKE_CXX_FLAGS='-o0 -ggdb'

-DCOMPILE_EXAMPLES=ON => Build example
-DCMAKE_CXX_FLAGS='-o0 -ggdb' => Not optimize and with debug information