Installation

This section describes how to install the required software to run the adi_iio package.

Build from Source

Workspace setup

If you are not using this node in an existing project, create a new folder ros2_ws, then create the src folder in ros2_ws. Go to src folder (either in ros2_ws or in your project), and clone the adi_iio repository:

export COLCON_WS=~/ros2_ws/src
mkdir -p $COLCON_WS
cd $COLCON_WS
git clone <https://github.com/your-repository-url.git>

After cloning, your directory structure should look like this:

ros2_ws/
└── src/
    └── adi_imu/

Source your main ROS2 environment as the underlay (in this example, ROS2 Humble):

source /opt/ros/humble/setup.sh

Resolving dependencies

Before building the workspace, you need to resolve the package dependencies. From the root of your workspace, run the following command:

rosdep update
rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} -y

Note

Optional: Build Libiio from Source

The adi_iio package supports an alternative method of installing the libiio dependency by building it from source. This is useful if you prefer to use a custom version of libiio instead of relying on the system-provided libiio-dev package via rosdep.

To build libiio from source, run the provided installation script which offers two options:

  • Set the desired libiio version (default is libiio-v0).

  • Specify the staging directory for the source build (default is $HOME/src).

For example:

# Optional exports
export LIBIIO_VERSION=libiio-v0
export STAGING_DIR=$HOME/src

./ci/install_dependencies.sh

After the script completes, install the remaining package dependencies while skipping the system’s libiio development package:

rosdep install --from-paths src --ignore-src -r -y --skip-keys libiio-dev

Tip

If you already have all your dependencies, the console will return:

#All required rosdeps installed successfully

Building the workspace: you can now build your package using the command:

colcon build

Note

It is recommended that 1 terminal is dedicated to building the package/workspace to avoid complex issues as mentioned in ROS2 Source the overlay .

Verify the build status: once finished, check whether the build is successful by looking for error messages.

If successful, you will see that colcon has created new directories:

ros2_ws/
├── build/
├── install/
└── log/
└── src/

The install directory is where your workspace’s setup files are, which you can use to source your overlay.

Warning

Before sourcing the overlay, it is very important that you open a new terminal, separate from the one where you built the workspace.

Sourcing the overlay: in the new terminal, enter the root of your workspace and source your main ROS 2 environment as the underlay:

cd $COLCON_WS
source /opt/ros/humble/setup.sh

Then source the previously built overlay:

source install/setup.sh

Now you can run the adi_iio package.

Building the Documentation

This guide describes how to build the project documentation locally using rosdoc2. Follow the steps below to set up your environment, build the documentation, and view the results.

Prerequisites

  • Python 3: Ensure you have Python 3 installed.

  • Virtual Environment: It is highly recommended to set up a Python virtual environment to avoid conflicts with other projects.

  • Dependencies: All required dependencies are listed in doc/requirements.txt.

Setting Up the Virtual Environment

  1. Create the Virtual Environment

    python3 -m venv .venv

  2. Activate the Virtual Environment

    source .venv/bin/activate

  3. Install the Required Dependencies

    pip3 install -r doc/requirements.txt

Building the Documentation

With the environment set up, build the documentation by running the following command from the root of the project:

rosdoc2 build --package-path .

This command generates the following directory structure:

./
├── cross_references/
├── docs_build/
└── docs_output

Viewing the Documentation

To view the generated documentation, open the docs_output/adi_iio/index.html file in your web browser.

Additional Notes

  • Execution Directory: All commands should be executed from the project’s root directory.

  • Troubleshooting: For any issues during the build process, refer to the official rosdoc2 documentation.