SunriseDDS

CycloneDDS on KUKA Sunrise.OS for integration with ROS2

Build CycloneDDS for Windows 7 32 Bit

1. Download and install Visual Studio 2019 Community Edition from: https://visualstudio.microsoft.com. Select 'Desktop development with C++'.

2. Download and install the latest CMake release from: https://cmake.org/download.

3. Download and unzip the latest winflexbison release from: https://github.com/lexxmark/winflexbison/releases. Tested with version 2.5.24 (bison 3.7.4,, flex 2.6.4).

4. Download and unzip Eclipse Cyclone DDS from: https://github.com/eclipse-cyclonedds/cyclonedds/archive/refs/heads/master.zip.

5. Open CMake and configure Cyclone DDS: Select the advanced option, set BISON_EXECUTABLE to the win_bison.exe in the unzipped winflexbison folder, and disable the use of OpenSSL by unselecting ENABLE_SSL . Press Configure, Generate. Open the generated Visual Studio project by pressing Open Project.

6. In Visual Studio 2019, open the file: src/ddsrt/src/time/windows/time.c and add the following preprocessor definitions

   #if defined(_WIN32_WINNT) && _WIN32_WINNT != 0x0601
   #undef _WIN32_WINNT
   #define _WIN32_WINNT 0x0601
   #endif
   

   above the block:

   /* GetSystemTimePreciseAsFileTime was introduced with Windows 8, so
   starting from _WIN32_WINNET = 0x0602.  When building for an older
   version we can still check dynamically. */
   #if defined(_WIN32_WINNT) && _WIN32_WINNT >= 0x0602
   #define UseGetSystemTimePreciseAsFileTime
   #else
   typedef void (WINAPI *GetSystemTimeAsFileTimeFunc_t)(LPFILETIME);
   static GetSystemTimeAsFileTimeFunc_t GetSystemTimeAsFileTimeFunc = GetSystemTimeAsFileTime;
   static HANDLE Kernel32ModuleHandle;
   #endif
   

   This is to enable a Windows 7 build as Visual Studio 2019 by default targets Windows 10.

7. Build the solution (ALL_BUILD). Ensure that the configuration is set to Release and that the platform is set to Win32.

8. Install the solution (INSTALL). The default install directory is C:\Program Files\CycloneDDS.

Install Sunrise Workbench

Install Sunrise Workbench. The installer comes with the installation medium from KUKA.

Configure environment variables

1. Define the JAVA_HOME environment variable to the Sunrise Workbench jdk folder. Default location: C:\Program Files\KUKA\Sunrise Workbench\jdk.

2. Append %JAVA_HOME%\bin to the Path environment variable.