Setting Up COSM

User Setup

  1. Install/Setup Dependencies

    • RCPPSW user setup

  2. Install COSM package(s).

Developer Setup

  1. COSM uses LIBRA so go to ln-libra-req and install any needed packages.

  2. Setup COSM’s dependencies (packages is fine, unless you’ll be modifying the dependencies too):

    • RCPPSW user setup

  3. Clone COSM and init LIBRA:

    git clone git@github.com:jharwell/cosm.git
cd cosm
git submodule update --init --remote --recursive

  4. Build COSM. From the root of the repo:

    mkdir build && cd build
cmake <ARGS> ..

    <ARGS> is a list of cmake arguments.

    Important

    COSM and LIBRA output VERY thorough summaries of their build configuration, so check them to make sure you are building what you think you are.

    You can pass any option as part of <ARGS> that LIBRA supports (see ln-libra-capabilities). In addition, you must specify what platform+agent type you will built COSM for via COSM_BUILD_FOR. Options are as follows (see Supported Platforms and Hardware for details):

    Platform+Hardware/Agent Model

    COSM_BUILD_FOR value

    ARGOS Foot-bot

    ARGOS_FOOTBOT

    ARGoS Drone

    ARGOS_DRONE

    ARGoS E-puck

    ARGOS_EEPUCK3D

    ARGoS Pi-puck

    ARGO_PIPUCK

    Extended TURTLEBOT3 with ROS

    ROS_ETURTLEBOT3

    Some example build commands and their meaning:

    Command

    Meaning

    		 
    cmake \
-DCOSM_BUILD_FOR=ARGOS_FOOTBOT

    Build for the ARGoS foot-bot, development build with default event reporting/logging (inherited from RCPPSW).

    		 
    cmake \
-DCOSM_BUILD_FOR=ARGOS_FOOTBOT \
-DCMAKE_BUILD_TYPE=OPT \
-DLIBRA_ER=NONE

    Build for the ARGoS foot-bot, optimized build with no event reporting.

    		 
    cmake \
-DCOSM_BUILD_FOR=ARGOS_DRONE \
-DCMAKE_INSTALL_PREFIX=$HOME/.local

    Build for the ARGoS drone, development build with default event reporting, installing to a different location.