• Ubuntu 14.04 or above
• ZMQ (optional)
• DDS (optional)
• Cmake 3.5.1 or above
• gcc for C++11 5.4.0 or above.
• BST SDK (https://gitlab.com/bstaero/sdk)
• Pistache (optional)
• Doxygen (optional)
• Moxygen (https://github.com/sourcey/moxygen) (optional)

• kpsr-core
• kpsr-robotics
• kpsr-admin (optional)

Given $KLEPSYDRA_HOME, for example $HOME/klepsydra:

git clone https://bitbucket.org/kpsr-devs/kpsr-bst.git
cd kpsr-bst
git submodule update --init
mkdir build
cd build
cmake ..
make
make test
sudo make install

This will install the klespydra bst in

/usr/local/

The cmake has the following options:

• -DKPSR_WITH_DDS=true for building the DDS binding
• -DKPSR_WITH_ZMQ=true for building the ZeroMQ binding.
• -DBST_SDK_HOME. Location of BST sdk repo. E.g. if the BST repo is installed in $HOME/development/swiftpilot/sdk.
• -DCMAKE_PREFIX_PATH for the Pistache install path (pistache/build) Example:

cmake -DKPSR_WITH_ZMQ=true -DBST_SDK_HOME=$HOME/development/swiftpilot/sdk ..

Besides the API libraries for the use of KPSR-BST, several executables are included in this repo:

In memory Eventloop client server. Example of use:

cd build
./bin/kpsr_mem_bst_client_server_el -f ./../bst_client_server/modules/mem_mdlw/conf/bst_mem_el_client_server.yaml

ZMQ Executables: BST server, client and proxy:

./bin/kpsr_zmq_bst_server -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_server.yaml
./bin/kpsr_zmq_bst_client -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_client.yaml
./bin/kpsr_zmq_bst_proxy -f ./../bst_client_server/modules/zmq_mdlw/conf/bst_zmq_proxy_server.yaml

make doc

The last built documentation is available in Klepsydra BST API DOC

© Copyright 2019-2020, Klepsydra Technologies, all rights reserved. Licensed under the terms in LICENSE.md

This software and documentation are Copyright 2019-2020, Klepsydra Technologies Limited and its licensees. All rights reserved. See license file for full copyright notice and license terms.

https://www.klepsydra.com [email protected]