MartyG-RealSense
commented
3 months ago Hi @jiapei100 When building the librealsense SDK from source code with CMake, there is a configuration flag called BUILD_WITH_DDS that requires CMake 3.16.3 and is set to Off by default.
https://github.com/IntelRealSense/librealsense/blob/master/CMake/lrs_options.cmake#L49
The main CMakeLists.txt file of librealsense has a provision that if the BUILD_WITH_DDS flag is set to On then the CMake file external_fastdds.cmake is included in the build,
https://github.com/IntelRealSense/librealsense/blob/master/CMakeLists.txt#L62-L75
This places the FastDDS project in the 3rd Party/fastdds folder.
The main CMakeLists.txt file states that FastDDS is only supported on Windows and Linux and not on ${CMAKE_SYSTEM} which is why it is set to Off by default.
When building librealsense with CMake, the configuration flags have -D placed on the front of them, so using the instruction below in the CMake build instruction should enable it.
-DBUILD_WITH_DDS=ON
In regard to your other question, can you provide information about the difference between local and system packages, please?
jiapei100
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1) Can we replace all packages under third-party from local to system? 2) For third-party realdds, https://github.com/canonical/Fast-RTPS is ALREADY outdated and replaced by https://github.com/eProsima/Fast-DDS ... Can anybody help to update it?