# CMVR-ES

## Overview

## Installation

### 1. Git submodules install 

```
git submodule update --init --recursive
```

### 2. Dependency install

```shell
# basic
sudo apt-get install build-essential -y
sudo apt-get install liblttng-ust-dev -y
sudo apt-get install lttng-tools -y
sudo apt install libboost-all-dev libssl-dev -y

# json
sudo apt install libjsoncpp-dev -y

# google
sudo apt install libgoogle-glog-dev -y

# modbus
sudo apt install libmodbus-dev -y

# vision
sudo apt install libeigen3-dev -y
sudo apt install libopencv-dev python3-opencv -y

# fcl
sudo apt install -y libfcl-dev

# flann
sudo apt-get install libflann-dev -y

# ffmpeg (deprecated)
#sudo apt install ffmpeg

#alas
sudo apt-get install libasound2-dev -y

# gstreamer
sudo apt install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad -y
sudo apt install gstreamer1.0-plugins-ugly gstreamer1.0-libav -y

# tinyxml2
sudo apt install libtinyxml2-dev -y
```

### 3. gRPC install (build from source)
version: https://grpc.io/docs/languages/cpp/quickstart/（grpc官网地址 v1.73.0）
#### 安装完成之后要配置环境变量
vim ~/.bashrc
在末尾添加

### 4. ffmpeg install (build from source)
#### 4.1 install dependencies
```shell
sudo apt-get update
sudo apt install build-essential yasm nasm git -y
sudo apt install libx264-dev libx265-dev libvpx-dev libfdk-aac-dev libmp3lame-dev libopus-dev -y
```

#### 4.2 build from source
```shell
cd assets
tar xjvf ffmpeg-4.4.tar.bz2
cd ffmpeg-4.4

# set configurations
./configure \
    --extra-libs="-lpthread -lm" \
    --enable-gpl \
    --enable-libass \
    --enable-libfdk-aac \
    --enable-libfreetype \
    --enable-libmp3lame \
    --enable-libopus \
    --enable-libvorbis \
    --enable-libvpx \
    --enable-libx264 \
    --enable-libx265 \
    --enable-pic \
    --enable-shared \
    --enable-nonfree \

# build and install
make -j4
sudo make install
```


### 5. librealsense2 2.55.1 install
```shell
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install librealsense2-dkms=1.3.24-0ubuntu1 -y
sudo apt-get install \
librealsense2=2.55.1-0~realsense.12473 \
librealsense2-utils=2.55.1-0~realsense.12473 \
librealsense2-dev=2.55.1-0~realsense.12473 \
librealsense2-dbg=2.55.1-0~realsense.12473 -y
```

### 5. OSQPEigen install(build from source)
#### 5.1 install osqp (v0.6.3)
```shell
git clone --branch v0.6.3 https://github.com/osqp/osqp.git
cd osqp
git submodule init
git submodule update
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install
```
#### 5.2 install OsqpEigen (v0.10.1)
```shell
git clone --branch v0.10.1 https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
git submodule init
git submodule update
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install
```

#### 6 mech-eye-sdk
```shell
cd assets
sudo dkpg -i Mech-Eye_API_2.5.1_amd64.deb
```

### 串口冲突问题
```shell
sudo systemctl stop brltty
sudo systemctl disable brltty
sudo apt remove brltty
```