[FastDDS 编译] windows + vs2022 纯源码编译调试 fastdds (全网独一种方式)

lijiafengs

550人浏览 · 2025-09-10 17:10:13

lijiafengs · 2025-09-10 17:10:13 发布

FastDDS依赖于FastCDR / Asio / tinyxml2 / foonathan_memory / openssl 这几个库, 所以在移植FastDDS前需要先将这几个库移植编译好。

一、windows visual studio 2022

FastCDR库：

1、添加路径

2、工程中添加如下源码

3、在\include\fastcdr目录下增加config.h文件

// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef _FASTCDR_CONFIG_H_
#define _FASTCDR_CONFIG_H_

#define FASTCDR_VERSION_MAJOR 2
#define FASTCDR_VERSION_MINOR 3
#define FASTCDR_VERSION_MICRO 0
#define FASTCDR_VERSION_STR "2.3.0"

#define FASTCDR_SOURCE

// C++11 support defines
#ifndef HAVE_CXX11
#define HAVE_CXX11 1
#endif // ifndef HAVE_CXX11

// Endianness defines
#ifndef FASTCDR_IS_BIG_ENDIAN_TARGET
#define FASTCDR_IS_BIG_ENDIAN_TARGET 0
#endif // ifndef FASTCDR_IS_BIG_ENDIAN_TARGET

#ifndef FASTCDR_HAVE_FLOAT128
#define FASTCDR_HAVE_FLOAT128 0
#endif // ifndef FASTCDR_HAVE_FLOAT128

#ifndef FASTCDR_SIZEOF_LONG_DOUBLE
#define FASTCDR_SIZEOF_LONG_DOUBLE 8
#endif // ifndef FASTCDR_SIZEOF_LONG_DOUBLE

#if defined(__ARM_ARCH) && __ARM_ARCH <= 7
#define FASTCDR_ARM32
#endif // if defined(__ARM_ARCH) && __ARM_ARCH <= 7

#if defined(__GNUC__) && !defined(__clang__)
#define TEMPLATE_SPEC
#else
#define TEMPLATE_SPEC template<>
#endif // if defined(__GNUC__) && !defined(__clang__)

#endif // _FASTCDR_CONFIG_H_

Asio库：

它是一个header-only库，移植比较简单。

1、添加路径

2、将\asio\include\asio.hpp添加到工程中

Ps:其实也可以不添加，只是为了方便查看。

tinyxml2库:

1、添加路径

2、将tinyxml2.cpp添加到工程中

foonathan_memory库:

1、添加路径

2、工程中添加如下源码

3、在\include\foonathan\memory目录下增加config_impl.hpp和container_node_sizes_impl.hpp

在\include\foonathan\memory\detail目录下增加container_node_sizes_impl.hpp

Ps: 这两个文件需要自己添加，如果使用cmake编译，cmake会自动生成这两个文件。config_impl.hpp文件的源码如下：

// Copyright (C) 2015-2025 Jonathan Müller and foonathan/memory contributors
// SPDX-License-Identifier: Zlib

#ifndef FOONATHAN_MEMORY_IMPL_IN_CONFIG_HPP
#error "do not include this file directly, use config.hpp"
#endif

#include <cstddef>

// This file is normally generated by CMake from src/config.hpp.in.
// For MSBuild/manual builds, we provide sensible defaults here.

// Enable allocation size checks (affects thrown diagnostics only).
#ifndef FOONATHAN_MEMORY_CHECK_ALLOCATION_SIZE
#define FOONATHAN_MEMORY_CHECK_ALLOCATION_SIZE 1
#endif

// Select the default raw allocator type used to build BlockAllocators.
// Must be one of: heap_allocator, new_allocator, malloc_allocator,
//                 static_allocator, virtual_memory_allocator
#ifndef FOONATHAN_MEMORY_IMPL_DEFAULT_ALLOCATOR
#define FOONATHAN_MEMORY_IMPL_DEFAULT_ALLOCATOR heap_allocator
#endif

// Debug options (tune as needed for your build configuration)
#ifndef FOONATHAN_MEMORY_DEBUG_ASSERT
#define FOONATHAN_MEMORY_DEBUG_ASSERT 0
#endif

#ifndef FOONATHAN_MEMORY_DEBUG_FILL
#define FOONATHAN_MEMORY_DEBUG_FILL 0
#endif

#ifndef FOONATHAN_MEMORY_DEBUG_FENCE
#define FOONATHAN_MEMORY_DEBUG_FENCE 0
#endif

#ifndef FOONATHAN_MEMORY_DEBUG_LEAK_CHECK
#define FOONATHAN_MEMORY_DEBUG_LEAK_CHECK 0
#endif

#ifndef FOONATHAN_MEMORY_DEBUG_POINTER_CHECK
#define FOONATHAN_MEMORY_DEBUG_POINTER_CHECK 0
#endif
#ifndef FOONATHAN_MEMORY_DEBUG_DOUBLE_DEALLOC_CHECK
#define FOONATHAN_MEMORY_DEBUG_DOUBLE_DEALLOC_CHECK 0
#endif

// Whether the library provides explicit template instantiations in the .cpps.
// When building as sources in your project, set to 0 to avoid ODR/link issues.
#ifndef FOONATHAN_MEMORY_EXTERN_TEMPLATE
#define FOONATHAN_MEMORY_EXTERN_TEMPLATE 0
#endif

// Temporary stack mode (2 = full feature; see docs for details)
#ifndef FOONATHAN_MEMORY_TEMPORARY_STACK_MODE
#define FOONATHAN_MEMORY_TEMPORARY_STACK_MODE 2
#endif

container_node_sizes_impl.hpp文件的源码如下：（从ros2-jazzy-20250820-windows-release-amd64Z中提取的）

// The following section was autogenerated by get_container_node_sizes.cmake
//=== BEGIN AUTOGENERATED SECTION ===//

namespace detail
{
    template <std::size_t Alignment>
    struct forward_list_node_size;

    template <>
    struct forward_list_node_size<1>
    : std::integral_constant<std::size_t, 15>
    {};

    template <>
    struct forward_list_node_size<2>
    : std::integral_constant<std::size_t, 14>
    {};

    template <>
    struct forward_list_node_size<4>
    : std::integral_constant<std::size_t, 12>
    {};

    template <>
    struct forward_list_node_size<8>
    : std::integral_constant<std::size_t, 8>
    {};
} // namespace detail

template <typename T>
struct forward_list_node_size
: std::integral_constant<std::size_t,
       detail::forward_list_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct list_node_size;

    template <>
    struct list_node_size<1>
    : std::integral_constant<std::size_t, 23>
    {};

    template <>
    struct list_node_size<2>
    : std::integral_constant<std::size_t, 22>
    {};

    template <>
    struct list_node_size<4>
    : std::integral_constant<std::size_t, 20>
    {};

    template <>
    struct list_node_size<8>
    : std::integral_constant<std::size_t, 16>
    {};
} // namespace detail

template <typename T>
struct list_node_size
: std::integral_constant<std::size_t,
       detail::list_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct set_node_size;

    template <>
    struct set_node_size<1>
    : std::integral_constant<std::size_t, 31>
    {};

    template <>
    struct set_node_size<2>
    : std::integral_constant<std::size_t, 30>
    {};

    template <>
    struct set_node_size<4>
    : std::integral_constant<std::size_t, 28>
    {};

    template <>
    struct set_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct set_node_size
: std::integral_constant<std::size_t,
       detail::set_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct multiset_node_size;

    template <>
    struct multiset_node_size<1>
    : std::integral_constant<std::size_t, 31>
    {};

    template <>
    struct multiset_node_size<2>
    : std::integral_constant<std::size_t, 30>
    {};

    template <>
    struct multiset_node_size<4>
    : std::integral_constant<std::size_t, 28>
    {};

    template <>
    struct multiset_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct multiset_node_size
: std::integral_constant<std::size_t,
       detail::multiset_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct unordered_set_node_size;

    template <>
    struct unordered_set_node_size<1>
    : std::integral_constant<std::size_t, 23>
    {};

    template <>
    struct unordered_set_node_size<2>
    : std::integral_constant<std::size_t, 22>
    {};

    template <>
    struct unordered_set_node_size<4>
    : std::integral_constant<std::size_t, 20>
    {};

    template <>
    struct unordered_set_node_size<8>
    : std::integral_constant<std::size_t, 16>
    {};
} // namespace detail

template <typename T>
struct unordered_set_node_size
: std::integral_constant<std::size_t,
       detail::unordered_set_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct unordered_multiset_node_size;

    template <>
    struct unordered_multiset_node_size<1>
    : std::integral_constant<std::size_t, 23>
    {};

    template <>
    struct unordered_multiset_node_size<2>
    : std::integral_constant<std::size_t, 22>
    {};

    template <>
    struct unordered_multiset_node_size<4>
    : std::integral_constant<std::size_t, 20>
    {};

    template <>
    struct unordered_multiset_node_size<8>
    : std::integral_constant<std::size_t, 16>
    {};
} // namespace detail

template <typename T>
struct unordered_multiset_node_size
: std::integral_constant<std::size_t,
       detail::unordered_multiset_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct map_node_size;

    template <>
    struct map_node_size<1>
    : std::integral_constant<std::size_t, 30>
    {};

    template <>
    struct map_node_size<2>
    : std::integral_constant<std::size_t, 28>
    {};

    template <>
    struct map_node_size<4>
    : std::integral_constant<std::size_t, 32>
    {};

    template <>
    struct map_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct map_node_size
: std::integral_constant<std::size_t,
       detail::map_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct multimap_node_size;

    template <>
    struct multimap_node_size<1>
    : std::integral_constant<std::size_t, 30>
    {};

    template <>
    struct multimap_node_size<2>
    : std::integral_constant<std::size_t, 28>
    {};

    template <>
    struct multimap_node_size<4>
    : std::integral_constant<std::size_t, 32>
    {};

    template <>
    struct multimap_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct multimap_node_size
: std::integral_constant<std::size_t,
       detail::multimap_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct unordered_map_node_size;

    template <>
    struct unordered_map_node_size<1>
    : std::integral_constant<std::size_t, 22>
    {};

    template <>
    struct unordered_map_node_size<2>
    : std::integral_constant<std::size_t, 20>
    {};

    template <>
    struct unordered_map_node_size<4>
    : std::integral_constant<std::size_t, 16>
    {};

    template <>
    struct unordered_map_node_size<8>
    : std::integral_constant<std::size_t, 16>
    {};
} // namespace detail

template <typename T>
struct unordered_map_node_size
: std::integral_constant<std::size_t,
       detail::unordered_map_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct unordered_multimap_node_size;

    template <>
    struct unordered_multimap_node_size<1>
    : std::integral_constant<std::size_t, 22>
    {};

    template <>
    struct unordered_multimap_node_size<2>
    : std::integral_constant<std::size_t, 20>
    {};

    template <>
    struct unordered_multimap_node_size<4>
    : std::integral_constant<std::size_t, 16>
    {};

    template <>
    struct unordered_multimap_node_size<8>
    : std::integral_constant<std::size_t, 16>
    {};
} // namespace detail

template <typename T>
struct unordered_multimap_node_size
: std::integral_constant<std::size_t,
       detail::unordered_multimap_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct shared_ptr_stateless_node_size;

    template <>
    struct shared_ptr_stateless_node_size<1>
    : std::integral_constant<std::size_t, 24>
    {};

    template <>
    struct shared_ptr_stateless_node_size<2>
    : std::integral_constant<std::size_t, 24>
    {};

    template <>
    struct shared_ptr_stateless_node_size<4>
    : std::integral_constant<std::size_t, 24>
    {};

    template <>
    struct shared_ptr_stateless_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct shared_ptr_stateless_node_size
: std::integral_constant<std::size_t,
       detail::shared_ptr_stateless_node_size<alignof(T)>::value + sizeof(T)>
{};

namespace detail
{
    template <std::size_t Alignment>
    struct shared_ptr_stateful_node_size;

    template <>
    struct shared_ptr_stateful_node_size<1>
    : std::integral_constant<std::size_t, 32>
    {};

    template <>
    struct shared_ptr_stateful_node_size<2>
    : std::integral_constant<std::size_t, 32>
    {};

    template <>
    struct shared_ptr_stateful_node_size<4>
    : std::integral_constant<std::size_t, 32>
    {};

    template <>
    struct shared_ptr_stateful_node_size<8>
    : std::integral_constant<std::size_t, 32>
    {};
} // namespace detail

template <typename T>
struct shared_ptr_stateful_node_size
: std::integral_constant<std::size_t,
       detail::shared_ptr_stateful_node_size<alignof(T)>::value + sizeof(T)>
{};

//=== END AUTOGENERATED SECTION ===//

Openssl库：

Openssl使用静态库, 编译过程可以参考Windows上源码编译生成OpenSSL静态库和动态库_openssl windows 编译-CSDN博客 (https://blog.csdn.net/qq_24628877/article/details/146636048)

这边直接从这篇文章中下载编译好的资源了。

1、先把下载好的静态放到工程目录中

2、添加静态库的路径

3、添加如下静态库

Ps: crypt32.lib是windows的系统静态库，openssl用它了，所以要添加

4、添加头文件路径

FastDDS库：

1、添加头文件路径

2、工程中添加源文件

Ps: 别漏了.cxx文件

3、修改如下红框中的文件的编译输出.obj文件名字：

该文件右键属性->c/c++->Output Files->Object File Name修改为 $(IntDir)%(Filename)2.obj

或$(IntDir)%(Filename)3.obj。

因为工程中有其他同名文件,如果不修改,后编译的同名文件输出.obj会覆盖先编译的,从而导致缺失先编译的符号链接。

如下文件修改为$(IntDir)%(Filename)2.obj

如下文件修改为$(IntDir)%(Filename)3.obj

4、编译语言要选c++17，选c++20会出现如下报错

'destroy': is not a member of 'std::allocator<_Ty>'，这是因为C++17 以后直接调用 allocator.construct / destroy 在自定义或标准 allocator 上可能不可用（C++20 标准鼓励通过 std::allocator_traits）

5、工程属性->c/c++->command line中添加

/D "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS" /D "WIN32_LEAN_AND_MEAN" /D "NOMINMAX" /D "BOOST_USE_WINDOWS_H" /D "_HAS_DEPRECATED_ALLOCATOR_MEMBERS=1" -U UNICODE /FS

6、添加静态库Shlwapi.lib

因为里面调用的函数PathMatchSpecA属于这个库

7、在\include\fastdds目录下增加config.hpp文件，该文件源码如下：

 // Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef FASTDDS__CONFIG_H
#define FASTDDS__CONFIG_H

#define FASTDDS_VERSION_MAJOR 3
#define FASTDDS_VERSION_MINOR 3
#define FASTDDS_VERSION_MICRO 0
#define FASTDDS_VERSION_STR "3.3.0"

#define FASTDDS_GEN_API_VER 3

// C++20 support defines
#ifndef HAVE_CXX20
#define HAVE_CXX20 1
#endif /* ifndef HAVE_CXX20 */

// C++17 support defines
#ifndef HAVE_CXX17
#define HAVE_CXX17 1
#endif /* ifndef HAVE_CXX17 */

// C++14 support defines
#ifndef HAVE_CXX14
#define HAVE_CXX14 1
#endif /* ifndef HAVE_CXX14 */

// C++1Y support defines
#ifndef HAVE_CXX1Y
#define HAVE_CXX1Y 1
#endif /* ifndef HAVE_CXX1Y */

// C++11 support defines
#ifndef HAVE_CXX11
#define HAVE_CXX11 1
#endif /* ifndef HAVE_CXX11 */

// Endianness defines
#ifndef FASTDDS_IS_BIG_ENDIAN_TARGET
#define FASTDDS_IS_BIG_ENDIAN_TARGET 0
#endif /* ifndef FASTDDS_IS_BIG_ENDIAN_TARGET */

// Security
#ifndef HAVE_SECURITY
#define HAVE_SECURITY 1
#endif /* ifndef HAVE_SECURITY */

//Sqlite3 support
#ifndef HAVE_SQLITE3
#define HAVE_SQLITE3 0
#endif /* ifndef HAVE_SQLITE3 */

// Using thirdparty shared_mutex
#define USE_THIRDPARTY_SHARED_MUTEX 0

// TLS support
#ifndef TLS_FOUND
#define TLS_FOUND 1
#endif /* ifndef TLS_FOUND */

// Strict real-time
#ifndef HAVE_STRICT_REALTIME
#define HAVE_STRICT_REALTIME 0
#endif /* ifndef HAVE_STRICT_REALTIME */

/* Log Macros */

// Enable compilation for eProsima Log Macros
#ifndef ENABLE_OLD_LOG_MACROS_
#define ENABLE_OLD_LOG_MACROS_ 1
#endif /* ifndef ENABLE_OLD_LOG_MACROS_ */

// Log Info
#ifndef FASTDDS_ENFORCE_LOG_INFO
#define FASTDDS_ENFORCE_LOG_INFO
#endif // ifndef FASTDDS_ENFORCE_LOG_INFO
#ifndef HAVE_LOG_NO_INFO
#define HAVE_LOG_NO_INFO 0
#endif /* ifndef HAVE_LOG_NO_INFO */

// Log Warning
#ifndef HAVE_LOG_NO_WARNING
#define HAVE_LOG_NO_WARNING 0
#endif /* ifndef HAVE_LOG_NO_WARNING */

// Log Error
#ifndef HAVE_LOG_NO_ERROR
#define HAVE_LOG_NO_ERROR 0
#endif /* ifndef HAVE_LOG_NO_ERROR */

// Statistics
#define FASTDDS_STATISTICS

#define FASTDDS_SOURCE

// Deprecated macro
#if __cplusplus >= 201402L
#define FASTDDS_DEPRECATED(msg) [[ deprecated(msg) ]]
#elif defined(__GNUC__) || defined(__clang__)
#define FASTDDS_DEPRECATED(msg) __attribute__ ((deprecated(msg)))
#elif defined(_MSC_VER)
#define FASTDDS_DEPRECATED(msg) __declspec(deprecated(msg))
#else
#define FASTDDS_DEPRECATED(msg)
#endif /* if __cplusplus >= 201402L */

// Deprecation with version
#define FASTDDS_DEPRECATED_UNTIL(major, entity_name, msg)                                                           \
    static_assert(FASTDDS_VERSION_MAJOR < major, #entity_name " reached deprecation version " #major);             \
    FASTDDS_DEPRECATED(#entity_name " has been deprecated and will be removed on major version " #major ". " msg)

#define FASTDDS_TODO_BEFORE(major, minor, msg)                                          \
    static_assert((FASTDDS_VERSION_MAJOR < major) ||                                   \
            (FASTDDS_VERSION_MAJOR == major && FASTDDS_VERSION_MINOR < minor),  \
            "TODO before version " #major "." #minor " : " #msg)

#endif // FASTDDS__CONFIG_H

最后，看下整个工程的目录吧

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