cnr_common

A collection of commonly used utility libraries.

Download

To download the submodules, first move to the workspace directory and create a /src folder:

cd ~/path_to_your_ws
mkdir src
cd src

and then use the following command:

git clone --recurse-submodules https://github.com/JRL-CARI-CNR-UNIBS/cnr_common.git

Keep the submodules up to date with:

cd ~/path_to_your_ws/src/cnr_common
git submodule update --init --recursive
. update_submodules.sh

Install

Since these are common packages, it is recommended to compile the workspace without any other workspaces sourced. If you have a chained workspace setup, this should be the first one in the chain.

The package provides a .sh file to automate the process of compiling and installing all the packages. Navigate to the workspace folder where cnr_common is located (~/path_to_your_ws) and follow these instructions:

1. Copy and prepare the build script:

   cp src/cnr_common/build_template.sh build.sh && sed -i '1i PATH_TO_WS="$(pwd)"' build.sh

2. Run the build script:

   . build.sh

Environment Configuration

Note that cnr_param requires the environment variable CNR_PARAM_ROOT_DIRECTORY to be defined. For example, you can define it in the ~/.bashrc file as follows:

export CNR_PARAM_ROOT_DIRECTORY="/tmp/cnr_param"

This is the folder used by cnr_param to save parameters. See the dedicated GitHub page for more information.

Final Configuration

At the end of the process, add these lines to your ~/.bashrc file to ensure the installed libraries are visible:

export CNR_COMMON_WS_INSTALL_FOLDER="$HOME/path_to_your_ws/install"

if [[ ":$PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER/bin:"* ]]; then
    export PATH="$CNR_COMMON_WS_INSTALL_FOLDER/bin:$PATH"
fi
if [[ ":$LD_LIBRARY_PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER/lib:"* ]]; then
    export LD_LIBRARY_PATH="$CNR_COMMON_WS_INSTALL_FOLDER/lib:$LD_LIBRARY_PATH"
fi
if [[ ":$CMAKE_PREFIX_PATH:" != *":$CNR_COMMON_WS_INSTALL_FOLDER:"* ]]; then
    export CMAKE_PREFIX_PATH="$CNR_COMMON_WS_INSTALL_FOLDER:$CMAKE_PREFIX_PATH"
fi

Assign to the variable $CNR_COMMON_WS_INSTALL_FOLDER the actual path to your install folder. These settings are necessary to make the installed libraries visible.