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环境配置.md

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安装基本库

sudo apt update && sudo apt install -y \
      git \
      vim \
      libatlas-base-dev \
      libeigen3-dev \
      libgoogle-glog-dev \
      libsuitesparse-dev \
      python3-catkin-tools \
      python3-matplotlib \
      gfortran \
      autoconf \
      coinor-libipopt-dev \
      libgfortran5 \
      curl \
      libopenmpi-dev \
      apt-utils \
      software-properties-common \
      build-essential \
      libssl-dev \
      ros-${ROS_DISTRO}-ros-control \
      ros-${ROS_DISTRO}-gazebo-ros \
      ros-${ROS_DISTRO}-joy \
      ros-${ROS_DISTRO}-ros-controllers \
      ros-${ROS_DISTRO}-robot-state-publisher

安装osqp及osqp-eigen等库

参考: https://blog.csdn.net/weixin_44724063/article/details/133387322 注意版本需要互相对照

git clone --recursive -b release-0.6.3 https://github.com/oxfordcontrol/osqp.git
cd osqp
mkdir build && cd build
cmake .. 
make
sudo make install
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake .. 
make
sudo make install

安装 LCM

git clone https://github.com/lcm-proj/lcm.git
cd lcm
git checkout tags/v1.4.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

编译(无需安装) unitree_legged_sdk

git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
cd unitree_legged_sdk
git checkout v3.2
mkdir build
cd build
cmake ..
make -j4