Ignition Msgs

API Reference


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These instructions are for installing only Ignition Messages. If you're interested in using all the Ignition libraries, check out this Ignition installation.

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Installation


On Ubuntu systems, apt-get can be used to install ignition-msgs:

sudo apt install libignition-msgs<#>-dev

Be sure to replace <#> with a number value, such as 2 or 3, depending on which version you need.


Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

conda create -n ign-ws
conda activate ign-ws

Install ignition-msgs:

conda install libignition-msgs<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 2 or 3, depending on which version you need.

Source Installation



Install required dependencies as follows:

sudo apt-get install libprotobuf-dev protobuf-compiler libprotoc-dev libignition-math6-dev

Building from Source

Standard installation can be performed in UNIX systems using the following steps:

mkdir build/
cd build/
cmake ..
sudo make install


To uninstall the software installed with the previous steps:

cd build/
sudo make uninstall



First, follow the ign-cmake tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.

Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda).

Activate the Conda environment:

conda activate ign-ws

Install prerequisites:

conda install tinyxml2 protobuf --channel conda-forge

Install Ignition dependencies:

You can view lists of dependencies:

conda search libignition-msgs* --channel conda-forge --info

Install dependencies, replacing <#> with the desired versions:

conda install libignition-cmake<#> libignition-math<#> libignition-tools<#> --channel conda-forge

Building from Source

This assumes you have created and activated a Conda environment while installing the Prerequisites.

  1. Navigate to where you would like to build the library, and clone the repository.
    # Optionally, append `-b ign-msgs#` (replace # with a number) to check out a specific version
    git clone https://github.com/ignitionrobotics/ign-msgs.git
  2. Configure and build
    cd ign-msgs
    mkdir build
    cd build
    cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
    cmake --build . --config Release
  3. Optionally, install
    cmake --install . --config Release


API documentation and tutorials can be accessed at https://ignitionrobotics.org/libs/cmake

You can also generate the documentation from a clone of this repository by following these steps.

  1. You will need Doxygen. On Ubuntu Doxygen can be installed using
    sudo apt-get install doxygen
  2. Clone the repository
    git clone https://github.com/ignitionrobotics/ign-cmake
  3. Configure and build the documentation.
    cd ign-cmake
    mkdir build
    cd build
    cmake ..
    make doc
  4. View the documentation by running the following command from the build directory.
    firefox doxygen/html/index.html

Documentation Release

  1. Upload documentation to ignitionrobotics.org.
    cd build
    sh upload.sh
  2. If you're creating a new release, then tell ignitionrobotics.org about the new version. For example:
    curl -k -X POST -d '{"libName":"msgs", "version":"1.0.0", "releaseDate":"2017-10-09T12:10:13+02:00","password":"secret"}' https://api .ignitionrobotics.org/1.0/versions


Run tests as follows:

make test

Tests are automatically built. To disable them, run cmake as follows:


Test coverage

To run test coverage:

  1. Install LCOV
    sudo apt-get install lcov
  2. Build with coverage
    cd build/
    cmake .. -DCMAKE_BUILD_TYPE=coverage
  3. Run tests
    make test
  4. Generate coverage
    make coverage
  5. View results
    firefox coverage/index.html

See the Writing Tests section of the Ignition documentation for help creating or modifying tests.