166 lines
3.8 KiB
Markdown
166 lines
3.8 KiB
Markdown
# CMVR-ES
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## Overview
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## Installation
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### 1. Git submodules install
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```
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git submodule update --init --recursive
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```
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### 2. Dependency install
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```shell
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# basic
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sudo apt-get install build-essential -y
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sudo apt-get install liblttng-ust-dev -y
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sudo apt-get install lttng-tools -y
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sudo apt install libboost-all-dev libssl-dev -y
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# json
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sudo apt install libjsoncpp-dev -y
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# google
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sudo apt install libgoogle-glog-dev -y
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# modbus
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sudo apt install libmodbus-dev -y
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# vision
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sudo apt install libeigen3-dev -y
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sudo apt install libopencv-dev python3-opencv -y
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# fcl
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sudo apt install -y libfcl-dev
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# flann
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sudo apt-get install libflann-dev -y
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# ffmpeg (deprecated)
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#sudo apt install ffmpeg
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#alas
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sudo apt-get install libasound2-dev -y
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# gstreamer
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sudo apt install gstreamer1.0-plugins-good gstreamer1.0-plugins-bad -y
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sudo apt install gstreamer1.0-plugins-ugly gstreamer1.0-libav -y
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# tinyxml2
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sudo apt install libtinyxml2-dev -y
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sudo pip install eigenpy
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```
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### 3. gRPC install (build from source)
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version: https://grpc.io/docs/languages/cpp/quickstart/（grpc官网地址 v1.73.0）
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#### 安装完成之后要配置环境变量
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vim ~/.bashrc
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在末尾添加
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### 4. ffmpeg install (build from source)
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#### 4.1 install dependencies
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```shell
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sudo apt-get update
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sudo apt install build-essential yasm nasm git -y
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sudo apt install libx264-dev libx265-dev libvpx-dev libfdk-aac-dev libmp3lame-dev libopus-dev -y
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```
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#### 4.2 build from source
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```shell
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cd assets
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tar xjvf ffmpeg-4.4.tar.bz2
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cd ffmpeg-4.4
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# set configurations
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./configure \
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--extra-libs="-lpthread -lm" \
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--enable-gpl \
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--enable-libass \
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--enable-libfdk-aac \
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--enable-libfreetype \
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--enable-libmp3lame \
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--enable-libopus \
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--enable-libvorbis \
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--enable-libvpx \
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--enable-libx264 \
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--enable-libx265 \
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--enable-pic \
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--enable-shared \
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--enable-nonfree \
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# build and install
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make -j4
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sudo make install
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```
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### 5. librealsense2 2.55.1 install
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```shell
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sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
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sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
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sudo apt-get install librealsense2-dkms=1.3.24-0ubuntu1 -y
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sudo apt-get install \
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librealsense2=2.55.1-0~realsense.12473 \
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librealsense2-utils=2.55.1-0~realsense.12473 \
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librealsense2-dev=2.55.1-0~realsense.12473 \
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librealsense2-dbg=2.55.1-0~realsense.12473 -y
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```
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### 5. OSQPEigen install(build from source)
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#### 5.1 install osqp (v0.6.3)
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```shell
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git clone --branch v0.6.3 https://github.com/osqp/osqp.git
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cd osqp
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git submodule init
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git submodule update
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mkdir build
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cd build
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cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
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make -j
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sudo make install
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```
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#### 5.2 install OsqpEigen (v0.10.1)
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```shell
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git clone --branch v0.10.1 https://github.com/robotology/osqp-eigen.git
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cd osqp-eigen
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git submodule init
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git submodule update
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mkdir build
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cd build
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cmake -DCMAKE_INSTALL_PREFIX=/usr/local ..
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make -j
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sudo make install
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```
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#### 6 mech-eye-sdk
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```shell
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cd assets
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sudo dkpg -i Mech-Eye_API_2.5.1_amd64.deb
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```
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### 串口冲突问题
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```shell
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sudo systemctl stop brltty
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sudo systemctl disable brltty
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sudo apt remove brltty
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```
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### ~./bashrc
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```shell
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export ARCH="x86"
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export CMVR_ES_PROJECT_PATH="/home/cmvr/Projects/cmvr-es"
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# >>> cmake
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export PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/cmake/v3.30.3/cmake-3.30.3-linux-x86_64/bin:$PATH"
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# <<< cmake
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# >>> ffmpeg
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export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/x264/v165/lib:$LD_LIBRARY_PATH"
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export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/x265/v215/lib:$LD_LIBRARY_PATH"
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export LD_LIBRARY_PATH="$CMVR_ES_PROJECT_PATH/dependency/$ARCH/third_party/ffmpeg/v4.2/lib:$LD_LIBRARY_PATH"
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# <<< ffmpeg
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```
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