MIT Cheetah虛擬環境搭建
阿新 • • 發佈:2020-12-10
文章目錄
MIT Cheetah虛擬環境搭建
1.虛擬機器安裝
我安裝的是Ubuntu18.04,虛擬機器的安裝還是自行Google,這裡略過,只強調一點:分配記憶體的時候給大一點比如8G,這樣在後面使用make -j4編譯的時候不會報錯。當然小一點也是沒關係的,使用make編譯就好了,時間久一點。
2.安裝依賴項
- 包:
sudo apt install mesa-common-dev freeglut3-dev coinor-libipopt-dev libblas-dev liblapack-dev gfortran liblapack-dev coinor-libipopt-dev cmake gcc build-essential libglib2.0-dev
- LCM1.3.1(it says Java 6, but you can use newer) (https://lcm-proj.github.io/)
git clone https://github.com/lcm-proj/lcm.git
cd lcm
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig
- Qt 5.10.0 or newer (requires the gamepad library) (https://www.qt.io/download-qt-installer)
你也可以去清華大學開源軟體映象站
sudo chmod -R 755 qt-opensource-linux-x64-5.14.0-rc_167.run
./qt-opensource-linux-x64-5.14.0-rc_167.run
Qt5安裝時自行註冊賬戶、路徑放你的home目錄、注意勾選
這裡安裝路徑很重要!不管你放哪裡,記得把/Cheetah-Software/scripts裡面的find_qt_path.sh指令碼更改成你的安裝目錄。
NOTE: on Ubuntu 18.10 or 19.04, you may instead install Qt with
sudo apt install libqt5 libqt5gamepad5
- Eigen (http://eigen.tuxfamily.org/)
sudo apt-get install libeigen3-dev
3.下載原始碼並編譯
git clone https://github.com/mit-biomimetics/Cheetah-Software.git
cd Cheetah-Software
cd scripts # for now, you must actually go into this folder
./make_types.sh # you may see an error like `rm: cannot remove...` but this is okay
cd ..
mkdir build
cd build
cmake .. # there are still some warnings here
make -j
如上直接編譯一般來說會報錯,主要報的是Qt的錯。將find_qt_path.sh裡面的相應路徑和檔名改成你安裝Qt的路徑和檔名即可。
如果安裝虛擬機器的時候記憶體給的太小也會報錯,把虛擬機器記憶體加大就好了。
[1] https://github.com/mit-biomimetics/Cheetah-Software/blob/master/documentation/getting_started.md
[2] https://blog.csdn.net/Galaxy_Robot/article/details/108546636