ArmarX Setup

Setup and maintenance tools for ArmarX and its dependencies.

Setup

This setup was tested on a fresh Ubuntu 18 installation.

If not done yet, install git and virtualenv for python 3:

# If not installed yet.
sudo apt install git python3-venv

Then clone the repository:

cd ~  # Or another directory of your choice. 
git clone git@gitlab.com:ArmarX/meta/setup.git armarx-setup
cd armarx-setup/

Create the virtual python environment by either (1) or (2):

# (1) Using pip and virtalenv
python3 -m venv .venv
source .venv/bin/activate
pip3 install -r requirements.txt

# (2) Using Python Poetry
poetry install

Optional: See Module Graph Visualization below for how to enable graph plotting.

Usage

See which commands are available:

./bin/armarx-setup --help

./bin/armarx-setup is a bash script which first activates the python environment, then calls the python script ./armarx-setup in the root directory if this repository (.).

If you have activated the python environment, you can also directly call ./armarx-setup.

To be able to run armarx-setup from anywhere, add this line to your ~/.bashrc and re-source or it open a new console:

export PATH=~/armarx-setup/bin:$PATH

Initialize a new workspace:

armarx-setup init

If you chose to export the ARMARX_WORKSPACE variable in your ~/.bashrc during the workspace initialization, open a new console for this to take effect.

Show information about the current workspace:

armarx-setup show

Use the upgrade command to

• install required apt packages (you are asked beforehand),
• clone/update repositories,
• prepare (e.g., run cmake),
• build (e.g., run cmake --build),
• install,

all modules and their (direct and indirect) dependencies.

armarx-setup upgrade

To add or remove modules:

armarx-setup add module/path
armarx-setup remove module/path

# Examples:
armarx-setup add armarx/ArmarXCore
armarx-setup add armarx_integration/robots/armar6

Modules paths are paths to .json files in the data/modules directory.

Use Ninja instead of Unix Makefiles

To use Ninja as cmake generator, set the environment variable CMAKE_GENERATOR when running upgrade:

CMAKE_GENERATOR=Ninja armarx-setup upgrade

If you ran upgrade or prepare before, wipe all build directories first:

armarx-setup clean

Use Ccache

The setup scripts detects whether the Ccache system packages is installed. If Ccache is installed, the script automatically sets the respective CC and CXX compilers (e.g. CXX=ccache g++).

For CMake projects, this must be done the first time cmake is run.

Install Ccache:

sudo apt install ccache

# (Optional) Define the cache size
ccache -M 100G

When you ran armarx-setup ugprade before, first run

armarx-setup clean

Then, just run

armarx-setup update

Module Graph Visualization

You can visualize the module graph encoding the dependencies of modules in the workspace by passing the --graph flag to the show command:

armarx-setup show --graph

This requires some additional packages:

pip install matplotlib PyQt5

In addition, to enable more sophisticated graph layout and styling, you can install these packages:

pip install numpy           # Used for edge coloring
pip install pygraphviz      # Graphviz layouting.
pip install python-igraph   # igraph layouting.

PyGraphviz also requires some system packages:

sudo apt-get install graphviz graphviz-dev