C++ (CMake)

Wavemap’s C++ library can be used as standard CMake package. In the following sections, we’ll present four ways in which you can include it in your own CMake project.

Note that if you intend to use wavemap with ROS1, you can skip this guide and proceed directly to the ROS1 installation page.

Prerequisites

Before you start, make sure you have the necessary tools installed to build C++ projects with CMake. On Ubuntu, we recommend installing:

sudo apt install cmake build-essential git

Note

If you are working in Docker, these dependencies are only required inside your container. Not on your host machine.

FetchContent

The fastest way to include wavemap in an existing CMake project is to use FetchContent, by adding the following lines to your project’s CMakeLists.txt:

set(WAVEMAP_VERSION main)  # Select a git branch, tag or commit

cmake_minimum_required(VERSION 3.18)
message(STATUS "Loading wavemap from GitHub (ref ${WAVEMAP_VERSION})")
include(FetchContent)
FetchContent_Declare(wavemap
    GIT_REPOSITORY https://github.com/ethz-asl/wavemap.git
    GIT_TAG ${WAVEMAP_VERSION}
    GIT_SHALLOW 1
    SOURCE_SUBDIR library/cpp)
FetchContent_MakeAvailable(wavemap)

Subdirectory

The second option is to load wavemap’s library into a subfolder of your project. This might be convenient if you expect to modify its code in the future:

HTTPS

cd <your_project>/dependencies
git clone https://github.com/ethz-asl/wavemap.git

SSH

cd <your_project>/dependencies
git clone git@github.com:ethz-asl/wavemap.git

SUBMODULE

cd <your_project>/dependencies
git submodule add git@github.com:ethz-asl/wavemap.git

You can then include it into your CMake project by adding the following lines to your CMakeLists.txt file:

add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/dependencies/wavemap/library/cpp
                 ${CMAKE_CURRENT_BINARY_DIR}/wavemap

Docker

In case you like to work in Docker, we provide sample Dockerfiles that build and install wavemap’s C++ library on either Alpine Linux or Debian.

If you have not yet installed Docker on your computer, please follow these instructions. We also recommend executing the post-installation steps for Linux, to make Docker available without sudo priviliges.

To build wavemap’s C++ Docker image, simply run:

ALPINE

docker build --tag=wavemap_cpp --pull - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/cpp/alpine.Dockerfile)

DEBIAN

docker build --tag=wavemap_cpp --pull - <<< $(curl -s https://raw.githubusercontent.com/ethz-asl/wavemap/main/tooling/docker/cpp/debian.Dockerfile)

This will create a local image on your machine containing the latest version of wavemap’s C++ library. You can give the local image a different name by modifying the --tag=wavemap_cpp argument. By default, the image will be built using the latest code on wavemap’s main branch. To specify a specific branch, commit or release, such as v2.1.0, add the --build-arg="WAVEMAP_VERSION=v2.1.0" argument.

Native install

The last option is to build wavemap as a standalone project, install it on your system and then load it using CMake’s find_package. This option is convenient when you want to use wavemap in multiple projects on your machine, while only having to download and compile it once.

First, make sure that all of wavemap’s dependencies are available as system libraries. On Ubuntu, we recommend installing:

sudo apt install libeigen3-dev libgoogle-glog-dev libboost-dev

Next, download the code:

HTTPS

git clone https://github.com/ethz-asl/wavemap.git

SSH

git clone git@github.com:ethz-asl/wavemap.git

Build it by running:

cd wavemap/library/cpp
cmake -S . -B build
cmake --build build -j $(nproc)

You can then install wavemap as a system library by running:

cmake --install build  # possibly needs sudo

To load wavemap’s library into your own CMake project, you can now simply call find_package in your CMakeLists.txt:

find_package(wavemap)

Installation

Python (pip)