146 lines
3.2 KiB
Markdown
146 lines
3.2 KiB
Markdown
# 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=2.55.1-0~realsense.12473 -y
|
||
sudo apt-get install librealsense2-utils=2.55.1-0~realsense.12473 -y
|
||
sudo apt-get install librealsense2-dev=2.55.1-0~realsense.12473 -y
|
||
sudo apt-get install 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
|
||
``` |