FastDDS编译安装说明

1.安装ASIO
1.1  sudo apt-get install autoconf
1.2  下载asio源码（git clone https://github.com/chriskohlhoff/asio.git）
1.3  找到autogen.sh所在的目录
1.4  ./autogen.sh
1.5  ./configure
1.6  make && sudo make install

2.安装tinyxml
2.1 git clone https://github.com/leethomason/tinyxml2.git
2.2 cd tinyxml2  (需要修改CMakeLists.txt中的add_library，加上SHARED生成动态库，默认为静态库，最后在libfastrtps.so编译链接到libtinyxml2的时候，需要引用的是动态库，静态库会报错）
2.3 mkdir build && cd build
2.4 cmake .. && make
2.5 sudo make install

3.安装libssl
sudo apt install libssl-dev

4.下载编译安装FastDDS

4.1 Foonathanmemory
4.1.1  git clone https://github.com/eProsima/foonathan_memory_vendor.git
4.1.2  mkdir foonathan_memory_vendor/build
4.1.3  cmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install -DBUILD_SHARED_LIBS=ON
4.1.4  cmake --build . --target install

4.2 FastCDR
4.2.1  git clone https://github.com/eProsima/Fast-CDR.git
4.2.2  mkdir Fast-CDR/build
4.2.3  cd Fast-CDR/build
4.2.4  cmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install
4.2.5  cmake --build . --target install

4.3 FastDDS
4.3.1  git clone https://github.com/eProsima/Fast-DDS.git
4.3.2  mkdir Fast-DDS/build
4.3.3  cd Fast-DDS/build
4.3.4  cmake .. -DCMAKE_INSTALL_PREFIX=~/Fast-DDS/install
4.3.5  cmake --build . --target install