installation.md

Installation

Contents

• Installation
  • Contents
  • Prerequisites
    • Ubuntu or Mac
    • Windows
  • How to build
  • How to package
    • Common
    • Ubuntu
    • Windows
    • Mac
  • How to bind different language
    • python
      • Windows
      • Elsewhere
    • wasm
    • node
      • Windows
      • Elsewhere
  • How to communication ROS1 topic / service

Prerequisites

We use bazel as a build tool. To build project, you need to down load and install it! Currently we tested with version 0.25.0. Also we need some other dependencies to bind different languages, and we provided you scripts for it.

Ubuntu or Mac

./installers/install_bazel.sh

For the developers working on mac, please note that currently, you have to manually set darwin_x86_64 on every command or we recommend to use .bazelrc.user like below.

echo 'build --cpu darwin_x86_64' >> .bazelrc.user

Windows

You have to download llvm from llvm.org also. Because we need clang-cl to build. For bazel to make use of it, you have to set USE_CLANG_CL to 1 and BAZEL_LLVM to /path/to/llvm if you didn't install llvm at default location.

choco install bazel --version 0.25.0

How to build

bazel build //felicia/...

How to package

Common

To generate a tar file containing headers, run the command like below. The output will be generated at bazel-bin/felicia/felicia_hdrs.tar.

bazel build --define framework_shared_object=true //felicia:felicia_hdrs

Ubuntu

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/libfelicia.so.

bazel build --define framework_shared_object=true //felicia:libfelicia.so

Windows

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/felicia.dll. The interface library will be generated at bazel-bin/felicia/felicia.lib.

bazel build --define framework_shared_object=true //felicia:felicia.dll
bazel build --define framework_shared_object=true //felicia:felicia_lib

Mac

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/libfelicia.dylib.

bazel build --cpu darwin_x86_64 --define framework_shared_object=true //felicia:libfelicia.dylib

How to bind different language

python

Windows

We need some python packages, please run the script below.

./installers/install_python_deps.sh # Maybe --user flags needed

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/python/felicia_py.pyd.

bazel build --config py_binding //felicia/python:felicia_py_pyd

Elsewhere

We need some python packages, please run the script below.

./installers/install_python_deps.sh # Maybe --user flags needed

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/python/felicia_py.so.

bazel build --config py_binding //felicia/python:felicia_py.so

wasm

On windows it's not supported yet.

We need some emsdk, please run the script below. This installs emsdk at toolchain/emscripten/.

./installers/install_emsdk.sh

Before building, you have to activate PATH and other environment variables in the current terminal. Let's activate them!

cd toolchain/emscripten/emsdk
source ./emsdk_env.sh

Also you have to do one more thing. Because bazel builds under virtual filesystem which is readonly, but for emscripten to build, we need one writable path, .emscripten_cache.lock.

# By default, .emscripten_cache.lock is under home directory
# Linux: /home/user/.emscripten_cache.lock
# Mac: /Users/user/.emscripten_cache.lock
# Windows: /c/Users/user/.emscripten_cache.lock

echo 'build:wasm_binding --sandbox_writable_path=/path/to/.emscripten_cache.lock' >> .bazelrc.user

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/wasm/felicia_wasm.js.tar.

bazel build --config wasm_binding //felicia/wasm:felicia_wasm.js.tar

node

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/js/felicia_js.node.

Windows

If you don't have nodejs, please install it. We tested with version 10.15.3. You can install nodejs easily with chocolatey.

choco install nodejs.install --version 10.15.3

On windows, when linking against node.lib, symbols are conflited between node.lib(zlib and openssl) and grpc(zlib and boringssl). So you should build a felicia_js.node without grpc library. You can do like below.

Please try not with -c dbg, because node.lib is provided with only release version.

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/js/felicia_js.node.

bazel build --config node_binding //felicia/js:felicia_js_node

Elsewhere

If you don't have nodejs, please install it. We tested with version 10.15.3. The scipt below will install nvm and install nodejs for you!

./installers/install_nodejs.sh

To generate a shared library, run the command like below. The output will be generated at bazel-bin/felicia/js/felicia_js.node.

bazel build --config node_binding //felicia/js:felicia_js_node

How to communication ROS1 topic / service

First we need to install some python packages to serialize ROS messages. Run script below.

./installers/install_python_deps.sh --ros_serialization # Maybe --user flags needed

And then, you have to build with option --define has_ros=true like below.

bazel build --define has_ros=true //felicia/...