#contents

Option List

Name	Description	Default
CORBA	Type of CORBA library to use (omniORB, TAO, ORBexpress)	omniORB
ORB_ROOT	Directory where the CORBA library is installed	If not specified, searched by FindPkgConfig for Ubuntu with omniORB. Otherwise, an error occurs.
SSL_ENABLE	Whether to generate the plugin for secure communication using SSL ON: Generate OFF: Do not generate	OFF
HTTP_ENABLE	Whether to generate the plugin for HTTP communication ON: Generate OFF: Do not generate	OFF
OPENSSL_ROOT	Directory containing the OpenSSL files. Required on Windows.
OBSERVER_ENABLE	Whether to enable the Component Observer ON: Enable OFF: Disable	OFF
DOCUMENTS_ENABLE	Whether to generate documentation with Doxygen ON: Generate OFF: Do not generate	OFF
ROS_ENABLE	Whether to generate serializers and interfaces for ROS communication ON: Generate OFF: Do not generate	OFF
FASTRTPS_ENABLE	Whether to generate interfaces for DDS (Fast-RTPS) communication ON: Generate OFF: Do not generate	OFF
ROS2_ENABLE	Whether to generate serializers for ROS2 communication ON: Generate OFF: Do not generate	OFF
EXAMPLES_ENABLE	Whether to build sample components ON: Build OFF: Do not build	ON
UTILS_ENABLE	Whether to build utility modules ON: Build OFF: Do not build	ON
EXTLIB_ENABLE	Whether to build external library modules ON: Build OFF: Do not build	ON
FLUENTBIT_ENABLE	Whether to build the Fluent Bit logger plugin ON: Build OFF: Do not build	OFF
FLUENTBIT_ROOT	Directory of the Fluent Bit source code
OPENSPLICE_ENABLE	Whether to generate interfaces for DDS (OpenSplice) communication ON: Generate OFF: Do not generate	OFF
OPENSPLICE_DIR	Directory where OpenSplice is installed
RAPIDXML_DIR	Directory where rapidxml is extracted

omniORB Options

Name	Description	Default
OMNI_VERSION	Major version of omniORB. Required when omniORB is built manually and installed in a custom location.	If not specified, it is set automatically when omniORB is installed via pkg-config on Linux. Otherwise, an error occurs.
OMNI_MINOR	Minor version of omniORB. Required when omniORB is built manually and installed in a custom location.	Same as above.
OMNITHREAD_VERSION	Version of omniThread. Required when omniORB is built manually and installed in a custom location.	Same as above.

Dependencies of Buildable Modules

• OBSERVER_ENABLE
• DOCUMENTS_ENABLE
• EXAMPLES_ENABLE
• UTILS_ENABLE
• EXTLIB_ENABLE

These depend only on libcoil and libRTC.

• SSL_ENABLE
• ROS_ENABLE
• FASTRTPS_ENABLE

EXTLIB_ENABLE must be set to ON.

• ROS2_ENABLE

Since FASTRTPS_ENABLE must be set to ON, building FastRTPSTransport is required.