Source Installation on Windows 10#
Currently, ign-launch
is not supported on Windows 10.
Additionally, command line tools, DART physics engine, and GUI capabilities are
not currently supported in Windows. These functionalities correspond to the currently
building packages ign-tools
, ign-physics
, and ign-gui
, respectively.
Note
You will still be able to use TPE
as a physics engine
(see here for more information on TPE
).
Install dependencies#
Install a Conda package management system. Miniconda suffices. You will likely want to check the box to add
conda
to yourPATH
during the installation process so that you won’t have to do this step manually.Install Visual Studio 2019. The Community version is free for students, open-source developers, and personal development. Check “Desktop development with C++” in the Workloads tab, and uncheck “C++ Cmake Tools.” We will install cmake via Conda.
Open a Visual Studio Command Prompt (search for “x64 Native Tools Command Prompt for VS 2019” in the Windows search field near the Windows button). Optionally, right-click and pin to the task bar for quick access in the future.
If you did not add Conda to your PATH
environment variable during Conda installation,
you may need to navigate to the location of condabin
in order to use the conda
command.
To find condabin
, search for “Anaconda Prompt” in the Windows search field near the
Windows button, open it, run where conda
, and look for a line containing the directory condabin
.
Navigate to your
condabin
, if necessary, and then create and activate a Conda environment:
conda create -n ign-ws
conda activate ign-ws
Once you have activate an environment, a prefix like (ign-ws)
will be prepended to
your prompt, and you can use the conda
command outside of the condabin
directory.
You can use conda info --envs
to see all of your environments.
To remove an environment, use conda env remove --name <env_name>
.
Install dependencies:
conda install cmake git vcstool curl pkg-config ^
colcon-common-extensions eigen freeimage gts ^
glib dlfcn-win32 ffmpeg ruby tinyxml2 tinyxml ^
protobuf urdfdom zeromq cppzmq ogre jsoncpp ^
libzip qt --channel conda-forge
Navigate to where you would like to build the library, create and enter your workspace directory, create the
src
directory which will contain the Ignition source code.
mkdir ign-ws
cd ign-ws
mkdir src
Then clone the repositories
# CMD
curl -sk https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-edifice.yaml -o collection-edifice
vcs import src < collection-edifice
# PowerShell
curl https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-edifice.yaml -o collection-edifice
vcs import --input collection-edifice src
Building the Ignition Libraries#
Once the compiler and all the sources are in place it is time to compile them.
Start the procedure by navigating to your workspace and listing the packages
recognized by colcon
:
colcon graph
colcon graph
should list the Ignition libraries with an
interdependency diagram.
If that is the case, then you are ready to build the whole set of libraries:
colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to ignition-gazebo5
Tests are turned off as they are not currently supported on Windows.
Note: All of the Ignition packages up to, but not including ign-gazebo
are currently building. The above command should successfully build all packages except for ign-gazebo
.
To build a specific package with all its dependent packages:
colcon build --merge-install --packages-up-to PACKAGE_NAME
To build a single package:
colcon build --packages-select PACKAGE_NAME
Visit colcon documentation to view more colcon
build and test options.
If there are no errors, all the binaries should be ready to use.
Using the workspace#
The workspace needs to be sourced every time a new terminal is used.
Run the following command to source the workspace:
# CMD
call install\setup.bat
#PowerShell
.\install\setup.ps1
This is the end of the source install instructions; head back to the Getting started page to start using Ignition!
Uninstalling source-based install#
A source-based install can be “uninstalled” using several methods, depending on the results you want:
If you installed your workspace with
colcon
as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’ssetup.bat
. This way, your environment will behave as though there is no Ignition install on your system.If, in addition to not wanting to use the libraries, you’re also trying to free up space, you can delete the entire workspace directory from within your
conda
environment with:rm -rf <workspace_name>
If you want to keep the source code, you can remove the
install
/build
/log
directories as desired, leaving thesrc
directory.
Troubleshooting#
See Troubleshooting