LCM
Build Instructions

Table of Contents

Source releases may be obtained from https://github.com/lcm-proj/lcm/releases.

You may also build the latest development version by cloning the git repository, https://github.com/lcm-proj/lcm.git.

The following instructions assume that you have obtained a copy of the source, either by unpacking a release archive or cloning the git repository, and that your initial working directory contains the source code. (For release archives, this includes descending into the top level lcm-X.Y.Z subdirectory.)

Regardless of platform, CMake 3.1 or later is required. Binaries may be obtained from https://cmake.org/download/. Sufficiently recent Linux distributions may provide a new enough CMake via their package managers.

Please note that these instructions refer to the latest release of LCM. As the build procedure may vary from release to release, if you are building an old release or the latest master, we recommend referring to the copy of this document (docs/content/build-instructions.md) found in your source distribution.

CMake Overview

These instructions assume that you will build in a directory named build as a direct subdirectory of the source directory, and that you will use the default generator. CMake permits the build directory to be almost anywhere (although in-source builds are strongly discouraged), and supports multiple generators. To users familiar with CMake, we recommend using Ninja.

A detailed description of how to use CMake is not specific to LCM and is beyond the scope of these instructions.

Ubuntu / Debian

Required packages:

Optional packages (e.g., for language-specific support or building documentation):

From a terminal, run the following commands.

$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install

OS X

There are several ways to build LCM on OS X, none of which are necessarily better than the others.

Homebrew

Install Homebrew packages

$ brew install glib pkg-config cmake

Install Java. Type javac in a terminal, then follow the instructions.

Download and build LCM.

$ mkdir build
$ cd build
$ cmake ..
$ make
$ make install

Windows

Requirements:

Building:

  1. Follow the instructions in WinSpecific/README.txt to setup GLib.
  2. Use the CMake GUI to configure LCM.
  3. Open the VS Solution created by CMake and build it.

LCM is officially supported on Visual Studio 2015.

Other / General

On other POSIX.1-2001 systems (e.g., other GNU/Linux distributions, FreeBSD, Solaris, etc.) the only major requirement is to install the GLib 2.x development files and CMake. If possible, a Java development kit and Python should also be installed. Then follow the same instructions as for Ubuntu / Debian.

Post Install

Linux

In the following, replace $LCM_INSTALL_PREFIX with the prefix to which LCM was installed (by default, /usr/local), and replace $LCM_LIBRARY_DIR with the location of the LCM library, lcm.so (e.g. /usr/local/lib).

Some Linux distributions, such as Arch, do not contain the default install location (/usr/local/lib/) in the ld.so.conf search path. In this case, or if you installed LCM to a different, non-standard prefix, you may wish to create a ld.so.conf file for lcm:

$ echo $LCM_LIBRARY_DIR > /etc/ld.so.conf.d/lcm.conf

Python users may need to add the lcm install location to Python's site packages search path using a .pth file:

$ PYTHON_VERSION=$(python -c "import sys; print(\"%s.%s\" % sys.version_info[:2])")
$ PYTHON_USER_SITE=$(python -m site --user-site)
$ echo "$LCM_LIBRARY_DIR/python$PYTHON_VERSION/site-packages" > $PYTHON_USER_SITE/lcm.pth

Lua users may need to add to LUA_CPATH:

$ LUA_VERSION=$(lua -e "print(string.sub(_VERSION, 5))")
$ export LUA_CPATH=$LUA_CPATH:$LCM_LIBRARY_DIR/lua/$LUA_VERSION/?.so

If you install LCM to a non-standard location (i.e. other than the default /usr/local, other CMake projects using LCM may need help finding it. Although you can always point to the directory where lcmConfig.cmake is installed by manually setting lcm_DIR, it may be convenient to add the location to the default search paths:

$ export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$LCM_INSTALL_PREFIX

In addition, pkgconfig can be configured to find lcm.pc:

$ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$LCM_LIBRARY_DIR/pkgconfig