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Dependency Installation for RSIA

Note: This guide was written on Ubuntu 16.04 using BASH terminal environment.

Installing ROS

  • To install ROS for Ubuntu 16.04 follow this (link).
  • To install ROS for Ubuntu 14.04 follow this (link).

Installing LLVM and CLANG

Before we move forward with this guide, move to the folder where you wish to install llvm and clang. Note: We will make 2 folders llvm and build_llvm in the said directory.

Once you are in the target directory please export the current directory as llvm_base_dir For example, to export the directory /home/nishant/rsia_test as base directory:

export llvm_base_dir='/home/nishant/rsia_test'

Now, we will download and build both llvm and clang:

Retrive llvm and clang

  • Move to the base directory.
cd $llvm_base_dir
  • Download llvm into the base directory.
wget "http://llvm.org/releases/3.9.0/llvm-3.9.0.src.tar.xz"
  • Extract the downloaded src for llvm.
tar -xvf llvm-3.9.0.src.tar.xz
  • Rename llvm folder for easy access (You can choose to skip this step but from now onwards we will use the folder name llvm instead of llvm-3.9.0.src)
mv llvm-3.9.0.src llvm
  • Download Clang into $llvm_base_dir/llvm/tools/ directory.
cd $llvm_base_dir/llvm/tools
wget "http://llvm.org/releases/3.9.0/cfe-3.9.0.src.tar.xz"
  • Extract clang in the same folder.
tar -xvf cfe-3.9.0.src.tar.xz
  • Rename clang folder for easy access (You can choose to skip this step but from now onwards we will use the folder name clang instead of cfe-3.9.0.src)
mv cfe-3.9.0.src clang

Build llvm and clang

  • Move to the base directory
cd $llvm_base_dir
  • Make a new directory build_llvm.
mkdir build_llvm
  • Export LLVM and Clang cmake files in this directory using (Note: We set the build mode to release)
cd $llvm_base_dir/build_llvm
cmake -G "Unix Makefiles" ../llvm -DCMAKE_BUILD_TYPE=Release
  • Compile llvm and clang
make

Wait for make to finish. Once finished LLVM and Clang are successfully built. Verify clang version by running

$llvm_base_dir/build_llvm/bin/clang --version

And it should return this to verify a successful install.

clang version 3.9.0 (tags/RELEASE_390/final)
Target: x86_64-unknown-linux-gnu
Thread model: posix
InstalledDir: $llvm_base_dir/build_llvm/bin

Installing yaml-cpp

Yaml-cpp can be installed in two ways:

you can verify if yaml-cpp is already installed using:

 ldconfig -p | grep yaml

  1. Through ubuntu repositories using

     sudo apt-get install libyaml-cpp-dev

  2. Can be built through sources and installed. Check yaml-cpp's github repository for that. (Click here)

Installing pugi-xml

pugi-xml can be installed in two ways:

You can test if pugi-xml is already installed using

 ldconfig -p | grep pugi

  1. Through ubuntu repositories using

     sudo apt-get install libpugixml-dev

  2. Can be built through sources and installed. Check pugi-xml's homepage. (Click here)

Installing graphviz

you can install graphviz using

sudo apt-get install graphviz