Installation

Dependencies

This package depends on a CMake-wrapped version of the Vicon Datastream SDK, which is avialable on GitHub). For further dependencies, see the find_package-section in CMakeLists.txt.

We also provide an Apptainer image (“pam_base”) which contains all required dependencies, so you don’t need to install everything on your computer. See pam_singularity.

Our internal dependencies are best provided by setting up a workspace using treep (see below).

Build

We recommend using treep to setup a workspace to build this package:

To install treep:

pip install treep

Create workspace:

mkdir ~/my_workspace
cd ~/my_workspace
git clone https://github.com/intelligent-soft-robots/treep_isr.git
treep --clone-https PAM_VICON  # clones packages to ./workspace/src

Build with Apptainer:

cd ~/my_workspace/workspace/
apptainer shell -e path/to/container.sif
Apptainer> colcon build

If you don’t want to use Apptainer, simply call colcon build directly. In this case, you need to install all dependencies locally (see Overview and software installation).