Real-Time Robotics Framework

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====== Preparations and Building EEROS with ROS Support ======

Back to [[getting_started:ros|]].

ROS1 or ROS2 needs to be installed on the developer machine as well as on the target machine.
For building the EEROS library with ROS support, for building an EEROS application with ROS support or before an EEROS application with ROS support can be started, you need to run the ''setup.bash'' script of ROS. This can be done with 
<code>
source /path_to_ros_installation/setup.bash
</code>

Our EEROS build scripts already include the ''setup.bash''.

IMPORTANT If an integrated development environment such as ''kdevelop'' or ''Qt Creator'' is used, the IDE has to be started from a terminal after the ''setup.bash'' script has run therein.

==== Building the EEROS library with ROS ====
If you build the library with cmake, make sure you use the -DUSE_ROS=TRUE (for ROS1) or the -DUSE_ROS2=TRUE (for ROS2) switch.
An example of a cmake call could look like this:

''cmake -DCMAKE_INSTALL_PREFIX="$install_dir" -DUSE_ROS2=TRUE ..''

Our build scripts already include this switch.