The following system packages are used by Caesar.jl:
# required packages sudo apt-get install hdf5-tools imagemagick # optional packages sudo apt-get install graphviz xdot
Although Julia (or JuliaPro) can be installed on a Linux computer using the
apt package manager, we are striving for a fully local installation environment which is highly reproducible on a variety of platforms.
The easiest method is–-via the terminal–-to download the desired version of Julia as a binary, extract, setup a symbolic link, and run:
cd ~ mkdir -p .julia cd .julia wget https://julialang-s3.julialang.org/bin/linux/x64/1.5/julia-1.5.2-linux-x86_64.tar.gz tar -xvf julia-1.5.2-linux-x86_64.tar.gz rm julia-1.5.2-linux-x86_64.tar.gz cd /usr/local/bin sudo ln -s ~/.julia/julia-1.5.2/bin/julia julia
Feel free to modify this setup as you see fit.
This should allow any terminal or process on the computer to run the Julia REPL by type
julia and testing with:
Run Julia in REPL (console) mode:
$ julia julia> println("hello world") "hello world"
Maybe a script, or command:
user@...$ echo "println(\"hello again\")" > myscript.jl user@...$ julia myscript.jl hello again user@...$ rm myscript.jl user@...$ julia -e "println(\"one more time.\")" one more time. user@...$ julia -e "println(\"...testing...\")" ...testing...
When searching for Julia related help online, use the phrase 'julialang' instead of just 'julia'. For example, search for 'julialang workflow tips' or 'julialang performance tips'. Also, see FAQ - Why are first runs slow?, which is due to Just-In-Time/Pre compiling and caching.
VSCode IDE allows for interactive development of Julia code using the Julia Extension. After installing and running VSCode, install the Julia Language Support Extension:
In VSCode, open the command pallette by pressing
Ctrl + Shift + p. There are a wealth of tips and tricks on how to use VSCode. See this JuliaCon presentation for as a general introduction into 'piece-by-piece' code execution and much much more. Working in one of the Julia IDEs like VS Code or Juno should feel something like this (Gif borrowed from DiffEqFlux.jl):
There are a variety of useful packages in VSCode, such as
Todo Browser as just a few highlights. These VSCode Extensions are independent of the already vast JuliaLang Package Ecosystem (see JuliaObserver.com).
The philosophy around Julia packages are discussed at length in the Julia core documentation, where each Julia package relates to a git repository likely found on Github.com. To install a Julia package, simply open a
julia REPL (equally the julia REPL in Atom/Juno) and type:
] # activate Pkg manager (v1.5) pkg> add Caesar
# Caesar is registered on JuliaRegistries/General julia> ] (v1.5) pkg> add Caesar
See Pkg.jl for details and features regarding package management, development, version control, virtual environments and much more.
RoMEPlotting.jl (2D) and Arena.jl (3D) as optional visualization packages:
(v1.5) pkg> add RoMEPlotting
As of 1Q2020 it is likely that most systems won’t require a system install of libpango or even libcairo. Previous versions of libraries required the following Linux system packages be installed:
sudo apt-get install libfontconfig1 sudo apt-get install gettext sudo apt-get install libcairo2 sudo apt-get install libpango1.0-0 # or libpango1.0-1
Arena.jl and Amphitheater.jl are currently being refactored as part of the broader DistributedFactorGraph migration, the features are are in beta stage (1Q2020).
Install the latest
master branch version with
(v1.5) pkg> add Arena#master
Unit tests can further be performed for the upstream packages as follows – NOTE first time runs are slow since each new function call or package must first be precompiled.
# the multimodal incremental smoothing and mapping solver (v1.5) pkg> test IncrementalInference ... # robotics related variables and factors to work with IncrementalInference -- can be used standalone SLAM system (v1.5) pkg> test RoME ... # umbrella framework with interaction tools and more -- allows stand alone and server based solving (v1.5) pkg> test Caesar ...
(v1.5) pkg> dev https://github.com/JuliaRobotics/Caesar.jl
Development packages are NOT managed by Pkg.jl, so you have to manage this Git repo manually. Development packages can usually be found at, e.g.
If you'd like to modify or contribute then feel free to fork the specific repo from JuliaRobotics, complete the work on branches in the fork as is normal with a Git workflow and then submit a PR back upstream. We try to keep PRs small, specific to a task and preempt large changes by first merging smaller non-breaking changes and finally do a small switch over PR. We also follow a backport onto
release/vX.X branch strategy with common
master as the development lobby that builds successfully 99.999% of the time.
In RoME, run the
To use RoME with the newly created sysimage, start julia with:
julia -O3 -J ~/.julia/dev/RoME/compileRoME/RoMESysimage.so
Work in progress (see issue #278).