ReSim Open Libraries

ReSim's open-core repository contains the open source subset of ReSim's C++ code intended to accelerate robotics development.

Getting Started

Install and Setup Docker

These instructions vary by host platform:

• Mac
• Windows
• Linux
  • post-install

Get the Code

git clone git@github.com:resim-ai/open-core.git

Setting up the Environment

In order to easily build and interact with ReSim's code, you need our development docker image. To fetch this image, navigate to the open source repo and call the following script.

cd open-core
./.devcontainer/pull.sh

If you have any trouble pulling here, please see this section below which shows how to build your own image locally. Next, we can start up a development docker container locally:

./.devcontainer/run.sh

Building the Code

We use Bazel as our build system. Therefore, to build all of the example binaries you simply have to execute:

bazel build //resim/examples/...

Now, all of the binaries will be present in bazel-bin/resim/examples/. Individual binaries can be built and run in a single step using bazel run. For example:

bazel run //resim/examples:liegroups

Autocomplete via clangd, clang-tidy, and compile_commands.json

Many developer tools (such as clangd and clang-tidy) require a compile_commands.json file in the root of the tree. This file is large and prone to change, so we don't check it in and each developer is responsible for generating it themselves. You will need to regenerate it whenever you change your BUILD files.

We use Hedron's Compile Commands Extractor to generate compile_commands.json. It can be invoked with:

bazel run @hedron_compile_commands//:refresh_all

Using Dotfiles

If you'd like to use your own dotfiles for customization inside the container, our recommendation is to create a dotfiles repository and write an install.sh script to automatically move those dotfiles to the appropriate location (and perform whatever other workspace customization you'd like). Note: do not put credentials of any kind in this repository.

If you'd like to streamline this system a bit, you can check out your dotfiles repo to $HOME/dotfiles and use .devcontainer/run_dotfiles.sh (instead of .devcontainer/run.sh) to have it automatically mounted and installed in your container.

Building the Docker Image Locally

We also provide scripts to build the development Docker image locally. To do this, simply do:

./.devcontainer/build.sh

And then once this is complete simply use .devcontainer/run_local.sh or .devcontainer/run_dotfiles_local.sh instead of .devcontainer/run.sh or .devcontainer/run_dotfiles.sh.