The Python bindings

The Python build uses scikit-build-core. You only need Python version >=3.10 and pip (or another frontend).

Simply run:

cd python && pip install .

and you won’t need to provide CMake, Ninja, or anything else.

By default, the core library dependencies are fetched; you can change that in python/pyproject.toml line 66.

For an editable install, see line 7 of python/Makefile.

The ROS interface

I support ROS Humble, Jazzy, Kilted, and Rolling.

If you have a full ROS environment set up, the process is similar to the core library build except we use colcon now.

You can use rosdep to install all the dependencies. For example, run the following in your ROS workspace directory (where the src folder is located):

rosdep install --from-paths src --ignore-src -r -y

I provide certain default colcon CMake arguments are provided in colcon.pkg which you might not want. In this case, please edit the file to disable any flag.