Installation

Prerequisites

  • CMake >= 3.16
  • C++17 compiler
  • yaml-cpp
  • Driver-specific dependencies (for example MAVSDK if using the MAVSDK driver)

Build kernel + external drivers

From the workspace root:

cd arch_nav_ws
export ARCH_NAV_DRIVERS=$(pwd)/src/arch_nav_mavsdk_driver

cmake -B src/arch_nav/build -S src/arch_nav
cmake --build src/arch_nav/build -j$(nproc)

Install:

sudo cmake --install src/arch_nav/build
sudo ldconfig

This installs:

  • libarch_nav.so
  • driver plugins under .../lib/arch_nav/drivers/

Build ROS 2 external modules (optional)

If using arch_nav_json_flight_plan:

source /opt/ros/humble/setup.bash
colcon build --paths src/arch_nav_json_flight_plan