diff --git a/build-additional-dependencies.md b/build-additional-dependencies.md
index bf0619d83f82a506b2f3bcfb8935d4e3af5fe57b..da5f38a70a0d70262a2de7328fda53b0a4d189bb 100644
--- a/build-additional-dependencies.md
+++ b/build-additional-dependencies.md
@@ -8,177 +8,174 @@ layout: main
## Dependencies needed to build Monado's additional drivers
-[checked on Fedora 38]
+#### Preliminary notes:
+These recipes have been checked on Ubuntu 22.04 LTS and Fedora 39.
+
+Using the commands listed below, packages are installed in ```/usr/local```. Fedora, by default, does not search libraries or package config files in ```/usr/local```. You could adapt /etc/ld.so.conf, or change the commands to install in ```/usr```, or, more simply, you can set two envvars in your ```.bashrc```:
+```sh
+export LD_LIBRARY_PATH=/usr/local/lib:/usr/local/lib64
+export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:/usr/local/lib64/pkgconfig
+```
### For the OpenHMD driver
- git clone https://github.com/OpenHMD/OpenHMD.git
- cd OpenHMD
- cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_SHARED_LIBS=ON
- sudo ninja -C build install
- sudo ln -s /usr/lib/pkgconfig/openhmd.pc /usr/lib64/pkgconfig
+```sh
+git clone https://github.com/OpenHMD/OpenHMD.git
+cd OpenHMD
+cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON
+ninja -C build
+sudo ninja -C build install
+```
### For the libsurvive driver
Some other dependencies are needed.
* On Debian/Ubuntu:
-
- sudo apt install liblapacke-dev libopenblas-dev
-
+ ```sh
+ sudo apt install libopenblas-dev liblapacke-dev libopenvr-dev
+ ```
* On Fedora:
-
- sudo dnf install openblas-devel lapack-devel
-
-Then, libsurvice can be built and installed:
-
- git clone https://github.com/cntools/libsurvive.git
- cd libsurvive
- cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DOPENVR_INCLUDE_PATH=/home/degrande/Projects/VAirDraw/vairdraw-src/externals/openvr/headers
- sudo ninja -C build install
+ ```sh
+ sudo dnf install openblas-devel lapack-devel openvr-devel
+ ```
+
+Then, libsurvive can be built and installed:
+```sh
+git clone https://github.com/cntools/libsurvive.git
+cd libsurvive
+cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
+ninja -C build
+sudo ninja -C build install
+```
### For the Realsense driver
-* On Debian/Ubuntu: ```...```
-* On Fedora: ```dnf install librealsense-devel```
+* On Debian/Ubuntu:
+ ```sh
+curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
+echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
+sudo tee /etc/apt/sources.list.d/librealsense.list
+sudo apt update
+sudo apt install librealsense2-dkms
+sudo apt install librealsense2-dev
+```
+* On Fedora:
+ ```sh
+ sudo dnf install librealsense-devel
+ ```
### For the DepthAI driver
- git clone --recurse-submodules https://github.com/luxonis/depthai-core.git
- cd depthai-core
- cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_SHARED_LIBS=ON
- sudo ninja -C build install
+```sh
+git clone --recurse-submodules https://github.com/luxonis/depthai-core.git
+cd depthai-core
+cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON
+ninja -C build
+sudo ninja -C build install
+```
### For SLAM tracking support, using Basalt
Some other dependencies are needed.
* On Debian/Ubuntu:
-
- ...
-
+ ```sh
+ sudo apt install libtbb-dev libglew-dev libpng-dev liblz4-dev libbz2-dev libboost-dev libboost-regex-dev libboost-filesystem-dev libboost-date-time-dev libboost-program-options-dev libboost-serialization-dev libgtest-dev libfmt-dev libuvc-dev
+ ```
* On Fedora:
+ ```sh
+ sudo dnf install tbb-devel glew-devel libpng-devel lz4-devel bzip2-devel boost-devel boost-regex boost-filesystem boost-date-time boost-program-options boost-serialization gtest-devel fmt-devel libuvc-devel
+ ```
- sudo dnf install tbb-devel glew-devel libpng-devel lz4-devel bzip2-devel boost-devel boost-regex boost-filesystem boost-date-time boost-program-options boost-serialization gtest-devel fmt-devel
-
-\
-**Basalt** uses Pangolin, which (in the included version) needs libuvc. On Debian/Ubuntu, it is packaged as ```libuvc-dev```, but it has to be built on Fedora:
-
- git clone https://github.com/libuvc/libuvc.git
- cd libuvc
- cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr
- sudo ninja -C build install
-
-\
-**Note** Pangolin (in the included version) fails to compile with GCC 13, due to missing inclusions of ```<cstdint>``` (see https://www.gnu.org/software/gcc/gcc-13/porting_to.html, Header dependency changes).
+Then, Basalt can be built and installed:
+```sh
+git clone --recurse-submodules https://gitlab.freedesktop.org/mateosss/basalt
+cd basalt
+cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
+ninja -C build
+sudo ninja -C build install
+```
- Add `#include <cstdint>` near the other inclusions in:
- * thirdparty/Pangolin/src/image/image_io_jpg.cpp
- * thirdparty/Pangolin/include/pangolin/log/packetstream_tags.h
+If you get `fatal error: Killed signal terminated program cc1plus` during the compilation, it could be due to memory exhaustion if too many compilation jobs are running in parallel. Using `ninja -j 1 -C build` to run one single compilation job should solve that issue.
-\
-Then, Basalt can be built and installed:
+**_Note for Fedora_**: Pangolin (in the included version) fails to compile with GCC 13, due to missing inclusions of ```<cstdint>``` (see https://www.gnu.org/software/gcc/gcc-13/porting_to.html, Header dependency changes).\
+You need to add `#include <cstdint>` near the other inclusions in:
- git clone --recurse-submodules https://gitlab.freedesktop.org/mateosss/basalt
- cd basalt
- cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr
- sudo ninja -C build install
- sudo ln -s /usr/lib/pkgconfig/basalt.pc /usr/lib64/pkgconfig
+* `thirdparty/Pangolin/src/image/image_io_jpg.cpp`
+* `thirdparty/Pangolin/include/pangolin/log/packetstream_tags.h`
### For 'Mercury' Hand Tracking, using the ONNX Runtime
+**_Note for Ubuntu_**: ONNXRuntime needs a recent `cmake` (at least version 3.26), which is not available on Ubuntu 22.04. If you want to use the handtracking driver, then you'll have to update `cmake` using the Kitware's APT repository:
+```sh
+wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
+sudo apt update
+sudo apt upgrade cmake
+```
+
Some other dependencies are needed.
* On Debian/Ubuntu:
-
- ...
-
+ ```sh
+ sudo apt install libgmock-dev
+ ```
* On Fedora:
+ ```sh
+ sudo dnf install gmock-devel
+ ```
- sudo dnf install gmock-devel patch
-
-\
Then, onnxruntime can be built and installed:
+```sh
+git clone --recurse-submodules https://github.com/Microsoft/onnxruntime.git
+cd onnxruntime
+./build.sh --config Release --build_shared_lib --parallel --skip_tests --compile_no_warning_as_error --cmake_extra_defines CMAKE_INSTALL_PREFIX=/usr/local --cmake_extra_defines onnxruntime_BUILD_UNIT_TESTS=OFF
+cd build/Linux/Release
+sudo make install
+```
- git clone --recurse-submodules https://github.com/Microsoft/onnxruntime.git
- cd onnxruntime
- ./build.sh --config Release --build_shared_lib --parallel --skip_tests --compile_no_warning_as_error --cmake_extra_defines CMAKE_INSTALL_PREFIX=/usr --cmake_extra_defines onnxruntime_BUILD_UNIT_TESTS=OFF
- cd build/Linux/Release
- sudo make install
-
-\
-**Note** FlatBuffers fails to compile with GCC 13. A patch is to be applied to ignore a compilation warning (turned into an error). Once `onxxruntime.git` is cloned and before to run `./build.sh ...`, two modifications are needed:
-
-1. Create a file named onnxruntime/cmake/patches/flatbuffers/flatbuffers_cmake.patch, with the following content:
-
- diff --git a/CMakeLists.txt b/CMakeLists.txt
- index 3987eac..5e5462f 100644
- --- a/CMakeLists.txt
- +++ b/CMakeLists.txt
- @@ -223,7 +223,7 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
- "${CMAKE_CXX_FLAGS} -std=c++0x")
- endif(CYGWIN)
- set(CMAKE_CXX_FLAGS
- - "${CMAKE_CXX_FLAGS} -Wall -pedantic -Werror -Wextra -Werror=shadow")
- + "${CMAKE_CXX_FLAGS} -Wall -pedantic -Werror -Wextra -Werror=shadow -Wno-error=stringop-overflow")
- set(FLATBUFFERS_PRIVATE_CXX_FLAGS "-Wold-style-cast")
- if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.4)
- if (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 7.0)
-
-1. Edit the file onnxruntime/cmake/external/onnxruntime_external_deps.cmake to change:
-
- #flatbuffers 1.11.0 does not have flatbuffers::IsOutRange, therefore we require 1.12.0+
- FetchContent_Declare(
- flatbuffers
- URL ${DEP_URL_flatbuffers}
- URL_HASH SHA1=${DEP_SHA1_flatbuffers}
- FIND_PACKAGE_ARGS 1.12.0...<2.0.0 NAMES Flatbuffers
- )
-
- into:
-
- #flatbuffers 1.11.0 does not have flatbuffers::IsOutRange, therefore we require 1.12.0+
- FetchContent_Declare(
- flatbuffers
- URL ${DEP_URL_flatbuffers}
- URL_HASH SHA1=${DEP_SHA1_flatbuffers}
- PATCH_COMMAND ${Patch_EXECUTABLE} --binary --ignore-whitespace -p1 < ${PROJECT_SOURCE_DIR}/patches/flatbuffers/flatbuffers_cmake.patch
- FIND_PACKAGE_ARGS 1.12.0...<2.0.0 NAMES Flatbuffers
- )
-
-Then, you can proceed with the compilation (`./build.sh ....`).
-
-### For the UltraLeap driver
-
-Get the latest Linux version from https://www2.leapmotion.com/v2-developer-beta-linux. \
-Then (adapt the names to the downloaded version number):
-
- tar -xzf Leap_Motion_SDK_Linux_2.3.1.tgz
- cd LeapDeveloperKit_2.3.1+31549_linux/LeapSDK
- sudo cp include/Leap.h /usr/include
- sudo cp include/LeapMath.h /usr/include
- sudo cp lib/x64/libLeap.so /usr/lib64
+### For the UltraLeap v5 driver
+* On Debian/Ubuntu:
+ ```sh
+ wget -qO - https://repo.ultraleap.com/keys/apt/gpg | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/ultraleap.gpg > /dev/null
+ echo 'deb [arch=amd64] https://repo.ultraleap.com/apt stable main' | sudo tee /etc/apt/sources.list.d/ultraleap.list > /dev/null
+ sudo apt update
+ sudo apt install ultraleap-hand-tracking
+ ```
+
+* On Fedora:
+
+ The Ultraleap v5 driver is not available for Fedora.
### To use Tracy as a tracing backend
Some other dependencies are needed.
* On Debian/Ubuntu:
-
- ...
+ ```sh
+ sudo apt install libglfw3-dev libfreetype-dev libcapstone-dev libdbus-1-dev
+ ```
* On Fedora:
+ ```sh
+ sudo dnf install glfw-devel freetype-devel capstone-devel dbus-devel
+ ```
+
+Then, tracy can be built:
- sudo dnf install glfw-devel freetype-devel capstone-devel dbus-devel
+**Note**: Currently (as of 03/21/2024), Monado uses the Tracy protocol version 63 (see ```src/external/tracy/common/TracyProtocol.hpp```), which needs Tracy version 0.9.0 or 0.9.1
-\
-Then, tracy can be built and installed:
+```sh
+git clone https://github.com/wolfpld/tracy.git
+cd tracy
+git checkout v0.9.1
+cd profiler/build/unix
+make LEGACY=1
+```
- git clone git clone https://github.com/wolfpld/tracy.git
- cd tracy
- cd profiler/build/unix
- sudo make LEGACY=1
+This produces Tracy-release which can be copied in ```/usr/local/bin/``` for instance.
**Note**: Monado needs to be built with tracing support:
diff --git a/getting-started.md b/getting-started.md
index 26a4f3eb2d0d33937bb34ee96929704529640b25..9c61fc53957205ac1150fddad9f0c132a6d7cc71 100644
--- a/getting-started.md
+++ b/getting-started.md
@@ -71,35 +71,36 @@ Other useful packages:
### Installation from Source
-Install the CMake and ninja build tools
+Install the needed development and build tools.
* On Debian/Ubuntu, use:
- apt install cmake ninja-build
+ apt install build-essential git wget unzip curl patch pkg-config cmake ninja-build python3 ca-certificates
* On Fedora, use:
- dnf group install "C Development Tools and Libraries
+ dnf group install "C Development Tools and Libraries"
dnf install cmake ninja-build
See [https://gitlab.freedesktop.org/monado/monado#getting-started](https://gitlab.freedesktop.org/monado/monado#getting-started) for a list of dependencies.
-The next command will install required and some optional dependencies that will enable most of the commonly used functionality of monado.
+The next command will install required and some optional dependencies that will enable most of the commonly used functionality of Monado.
Some features and drivers are only compiled with [additional dependencies]({% link build-additional-dependencies.md %}) like libsurvive or librealsense.
* On Debian/Ubuntu, use:
- apt install build-essential git wget unzip cmake ninja-build libeigen3-dev curl patch python3 pkg-config libx11-dev libx11-xcb-dev libxxf86vm-dev libxrandr-dev libxcb-randr0-dev libvulkan-dev glslang-tools libglvnd-dev libgl1-mesa-dev ca-certificates libusb-1.0-0-dev libudev-dev libhidapi-dev libwayland-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libegl1-mesa-dev libbsd-dev
+ apt install libeigen3-dev libx11-dev libx11-xcb-dev libxxf86vm-dev libxrandr-dev libxcb-randr0-dev libvulkan-dev glslang-tools libglvnd-dev libgl1-mesa-dev libegl1-mesa-dev libusb-1.0-0-dev libsystemd-dev libudev-dev libhidapi-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libbsd-dev libbluetooth-dev libopenxr-loader1 libopenxr-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libwayland-dev wayland-protocols
* On Fedora, use:
- dnf install glslang eigen3-devel systemd-devel libbsd-devel vulkan-loader-devel libglvnd-devel mesa-libGL-devel mesa-libEGL-devel libusb1-devel libv4l-devel bluez-libs-devel libbsd-devel cjson-devel ffmpeg-devel gstreamer1-devel gstreamer1-plugins-base-devel hidapi-devel opencv-devel SDL2-devel wayland-devel wayland-protocols-devel libX11-devel libxcb-devel libXrandr-devel libv4l-devel libjpeg-turbo-devel
+ dnf install eigen3-devel libX11-devel libxcb-devel libXrandr-devel vulkan-loader-devel glslang libglvnd-devel mesa-libGL-devel mesa-libEGL-devel libusb1-devel systemd-devel hidapi-devel libv4l-devel opencv-devel cjson-devel SDL2-devel libbsd-devel bluez-libs-devel openxr openxr-devel ffmpeg-free-devel libjpeg-turbo-devel gstreamer1-devel gstreamer1-plugins-base-devel wayland-devel wayland-protocols-devel
-Then compile and install Monado. Monado can be built with either cmake or meson.
+Then compile and install Monado. Monado is built with CMake.
git clone https://gitlab.freedesktop.org/monado/monado.git
cmake -G Ninja -S monado -B build -DCMAKE_INSTALL_PREFIX=/usr
- ninja -C build install
+ ninja -C build
+ sudo ninja -C build install
### Monado Service