diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..88ae477 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +## Folders and custom rules +copy diff --git a/Osqp.zip b/Osqp.zip new file mode 100644 index 0000000..f6feb47 Binary files /dev/null and b/Osqp.zip differ diff --git a/README.md b/README.md index 6c2ee48..75278d2 100644 --- a/README.md +++ b/README.md @@ -1,62 +1,210 @@ # installers_plan -the dependance install for the motion planning algorithm +the dependencies install for the motion planning algorithm ## 1.编译 ### 1）grid_map_core -Could not find a package configuration file provided by "grid_map_core" -with any of the following names:
+Report an error:
+
+Could not find a package configuration file provided by "grid_map_core" with any of the following names:
grid_map_coreConfig.cmake
grid_map_core-config.cmake +
-解决办法：
-安装：
-``sudo apt-get update`` - +Solution:
+``sudo apt-get update``
``sudo apt-get -y install ros-kinetic-pcl-ros ros-kinetic-costmap-2d ros-kinetic-grid-map`` -### 2）ceres求解器 +### 2）ceres solver +Report an error:
+
fatal error: ceres/ceres.h: 没有那个文件或目录 +
-解决办法：
-``bash ./installers_plan/install_ceres.sh`` +Solution:
+``bash install_ceres.sh`` -### 3）IPOPT求解器 +### 3）IPOPT solver +Report an error:
+
A required package was not found Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) cmake/FindIPOPT.cmake:3 (pkg_check_modules)
CMakeLists.txt:24 (find_package) +
-解决办法：
-先安装cppad：
-``bash ./installers_plan/install_cppad.sh``
-再安装ipopt：
+Solution:
+Install cppad first：
+``bash install_cppad.sh``
+Then install ipopt：
``bash ./ipopt_install/install_ipopt.bash``
-如果编译执行时遇到：
-/user/bin/ld: 找不到 -lgfortran
+if there occurs some error when test the example：
+
+/usr/bin/ld: 找不到 -lgfortran
+
+ +then:
+Solution:
+`` +open terminal -> locate gfortran.so -> sudo cp [the folder that includes gfortran.so]/gfortran.so /user/local/lib``
+ +Reason:
+The default search dependency library path of the system is: /usr/local/lib.
+Reference:[]()[the reason Couldn't find the so link](https://blog.csdn.net/weixin_43723326/article/details/103427351) ;
+[]()[Couldn't find the so link](https://www.cnblogs.com/feifanrensheng/p/10039959.html)
-解决办法：
-打开终端 -> locate gfortran.so -> sudo cp 含有gfortran.so的目录/该文件gfortran.so /user/local/lib
-原因：
-参考[]()[找不到软链接原因](https://blog.csdn.net/weixin_43723326/article/details/103427351) ； -[]()[找不到软链接](https://www.cnblogs.com/feifanrensheng/p/10039959.html)
-系统的默认搜索依赖库路径为，/usr/local/lib。 ### 4）benchmark +
Could not find a package configuration file provided by "benchmark" with any of the following names:
benchmarkConfig.cmake
benchmark-config.cmake +
-解决办法：
-``bash ./installers_plan/install_googlebenchmark.sh`` +Solution:
+``bash install_googlebenchmark.sh`` ### 5）rosparam handler +
Could not find a package configuration file provided by "rosparam_handler" with any of the following names:
rosparam_handlerConfig.cmake
rosparam_handler-config.cmake +
+ +Solution:
+``sudo apt-get install ros-kinetic-rosparam-handler`` + +### 6)OsqpEigen +
+Could not find a package configuration file provided by "OsqpEigen" with + any of the following names:
+OsqpEigenConfig.cmake
+osqpeigen-config.cmake
+
+ +Solution: +``bash install_osqp.sh`` + +### 7)autoreconf +
+autoreconf: not found +
+ +Solution:
+``sudo apt-get install autoconf automake libtool`` + + +### 8)NLOPT solver +
+/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
+ cmake/FindNLOPT.cmake:11 (pkg_check_modules)
+ CMakeLists.txt:31 (find_package) +
+ +Solution: +``bash ./installers_plan/install_install_nlopt.sh`` + +### 9）qt_build +
+Could not find a package configuration file provided by "qt_build" with any + of the following names:
+qt_buildConfig.cmake
+qt_build-config.cmake +
+ +Solution：
+``sudo apt-get install ros-kinetic-qt-build`` + +### 10)rviz_visual_tools +
+Could not find a package configuration file provided by "rviz_visual_tools" + with any of the following names:
+rviz_visual_toolsConfig.cmake
+rviz_visual_tools-config.cmake
+
+ +Solution: +``sudo apt-get install ros-kinetic-rviz-visual-tools `` + +### 11)OpenCV2.4 version +
+Could not find a configuration file for package "OpenCV" that is compatible + with requested version "2.4". +
+ +Solution:
+``bash install_opencv2_4.sh`` + +if there occurs the problem that the configuration incomplete:
+
+CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list) +
+or complied failed:
+
+/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录
+
+ +then:
+``bash install_opencv2_4gcc6`` + +Reason:
+The version of gcc is higher than the opencv2.4.13 requires. +Reference:[]()[CMake Error: the version of gcc is higher than the opencv2.4.13 requires](https://www.jianshu.com/p/7d117fa4924f) and []()[Make install error: the version of gcc is higher than the opencv2.4.13 requires](https://blog.csdn.net/Stackingrule/article/details/90146828) + +Check the version of opencv:
+``pkg-config --modversion opencv`` + +### 12)FCL +
+A required package was not found +Call Stack (most recent call first):
+ /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
+ cmake/FindFCL.cmake:12 (pkg_check_modules)
+ CMakeLists.txt:42 (FIND_PACKAGE) +
+ +Solution:
+``bash install_libccd_fcl`` + +### 13)grid_map_sdf +
+Could not find a package configuration file provided by "grid_map_sdf" with + any of the following names:
+grid_map_sdfConfig.cmake
+grid_map_sdf-config.cmake
+
+ +Solution:
+``sudo apt-get install ros-kinetic-grid-map-sdf`` + +### 14)Protobuf +
+A required package was not found +Call Stack (most recent call first):
+ /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
+ cmake/FindProtobuf.cmake:209 (pkg_check_modules)
+ CMakeLists.txt:43 (find_package) +
+ +Solution:
+[**Wait a minute, there's still some problem, I'll download a right version soon**]
+``bash install_googleProtobuf.sh``
+ +[]()[reference for install](https://github.com/protocolbuffers/protobuf/blob/master/src/README.md);
+[]()[reference about protobuf](https://github.com/protocolbuffers/protobuf) + + +### 15)tf2_sensor_msgs +
+ fatal error: tf2_sensor_msgs/tf2_sensor_msgs.h: 没有那个文件或目录
+
+ + Solution:
+ ``sudo apt-get install ros-kinetic-tf2-sensor-msgs`` -解决办法：
-``bash ./installers_plan/install_rosparem_handler.sh`` +小细节： +丢失了哪个包，可以去网上搜，如果是ROS_Wiki就有的，可以直接： +`sudo apt-get install ros-kinetic-pkgName` 尝试安装！！！ \ No newline at end of file diff --git a/benchmark.zip b/benchmark.zip new file mode 100644 index 0000000..514c75d Binary files /dev/null and b/benchmark.zip differ diff --git a/install_googleProtobuf.sh b/install_googleProtobuf.sh new file mode 100755 index 0000000..65c89a7 --- /dev/null +++ b/install_googleProtobuf.sh @@ -0,0 +1,44 @@ +#!/bin/bash +set -e # exit on first error +UBUNTU_VERSION=`lsb_release --release | cut -f2` +SRC_PATH="/tmp" +PROTOBUF_BENCHMARK_VERSION=3.13.0.1 + +main(){ + if [ $UBUNTU_VERSION == "16.04" ]; then + install_dependencies + install_google_protobuf + fi +} + +install_dependencies(){ + sudo apt-get install autoconf automake libtool curl make g++ unzip +} + +install_google_protobuf() { + cp protobuf-3.13.0.1.tar.gz $SRC_PATH + cd $SRC_PATH + tar -xf protobuf-3.13.0.1.tar.gz + cd protobuf-3.13.0.1 + #git clone https://github.com/google/googletest.git protobuf-3.13.0.1/googletest + + # go into protobuf folder and prepare for build + cd protobuf-3.13.0.1 + ./autogen.sh + + # compile and install + ./configure + make + make check + sudo make install + sudo ldconfig # refresh shared library cache. + + #test if it's successfully + #cmake -E chdir "build" ctest --build-config Release + + echo "protobuf-3.13.0 has been installed successfully if there's no error" +} + + +# MAIN +main diff --git a/install_googlebenchmark.sh b/install_googlebenchmark.sh index 210fa73..0f5aac3 100755 --- a/install_googlebenchmark.sh +++ b/install_googlebenchmark.sh @@ -2,7 +2,7 @@ set -e # exit on first error UBUNTU_VERSION=`lsb_release --release | cut -f2` SRC_PATH="/tmp" -GOOGLE_BENCHMARK_VERSION=v1.5.2 +GOOGLE_BENCHMARK_VERSION=v1.5.0 main(){ if [ $UBUNTU_VERSION == "16.04" ]; then @@ -11,27 +11,19 @@ main(){ } install_google_benchmark() { + cp benchmark.zip $SRC_PATH cd $SRC_PATH - # clone google-benchmark if directory does not already exist, or pull - if [ ! -d benchmark ]; then - git clone https://github.com/google/benchmark.git - git clone https://github.com/google/googletest.git benchmark/googletest - else - cd benchmark - git checkout master - git pull - cd .. - fi - - # go into benchmark repo and prepare for build + unzip benchmark.zip + + # go into benchmark folder and prepare for build cd benchmark - git checkout tags/${GOOGLE_BENCHMARK_VERSION} # compile and install - cmake -E make_directory "build" - cmake -E chdir "build" cmake -DCMAKE_BUILD_TYPE=Release ../ - cmake --build "build" --config Release - + mkdir -p build + cd build + cmake ../ + sudo make install + #test if it's successfully #cmake -E chdir "build" ctest --build-config Release diff --git a/install_libccd_fcl.sh b/install_libccd_fcl.sh new file mode 100755 index 0000000..260abe0 --- /dev/null +++ b/install_libccd_fcl.sh @@ -0,0 +1,49 @@ +#!/bin/bash +set -e # exit on first error +DIR=/tmp + +main() { + install_apt_pkgs + install_libccd + sudo ldconfig # load the installd library + install_fcl +} + + +install_apt_pkgs() { + sudo apt-get update + sudo apt-get -y install liboctomap-dev cmake build-essential gcc g++ libboost-all-dev libeigen3-dev +} + +install_libccd() { + if (ldconfig -p | grep libccd); then + echo "libccd has been installed." + else + echo "Install libccd......" + cd $DIR && rm -rf libccd + git clone --branch v2.0 https://github.com/danfis/libccd.git + cd libccd + mkdir -p build && cd build + cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON -DENABLE_DOUBLE_PRECISION=ON .. > /dev/null + make && sudo make install + echo "libccd is installed succesfully." + fi +} + +install_fcl() { + if (ldconfig -p | grep libfcl); then + echo "fcl has been installed." + else + echo "Install fcl......." + cd $DIR && rm -rf fcl + git clone --depth 1 --branch 0.5.0 https://github.com/flexible-collision-library/fcl.git + cd fcl + mkdir -p build && cd build + cmake .. + make -j4 + sudo -E make install + echo "fcl is installed successfully." + fi +} + +main diff --git a/install_nlopt.sh b/install_nlopt.sh new file mode 100755 index 0000000..a82a3f9 --- /dev/null +++ b/install_nlopt.sh @@ -0,0 +1,28 @@ +#!/bin/bash + +set -e # exit on first error + +main() { + install_apt_pkgs + install_nlopt +} + + +install_apt_pkgs() { + #sudo apt-get update + sudo apt-get -y install cmake g++ +} + +install_nlopt() +{ + + echo "Prepare to install NLopt ..." + cd /tmp && rm -rf nlopt* + git clone --depth 1 --branch v2.5.0 https://github.com/stevengj/nlopt.git + cd nlopt && mkdir -p build && cd build + cmake -DWITH_CXX="ON" .. + make -j$(nproc) + sudo make install +} + +main diff --git a/install_opencv2_4.sh b/install_opencv2_4.sh new file mode 100755 index 0000000..ae03b85 --- /dev/null +++ b/install_opencv2_4.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -e # exit on first error +UBUNTU_VERSION=`lsb_release --release | cut -f2` +SRC_PATH="/tmp" +OPENCV_BENCHMARK_VERSION=v2.4.13 + +main(){ + if [ $UBUNTU_VERSION == "16.04" ]; then + install_opencv_2_4 + fi +} + +install_opencv_2_4() { + cp opencv-2.4.13.tar.gz $SRC_PATH + cd $SRC_PATH + if [! -d opencv-2.4.13]; then + tar -xf opencv-2.4.13.tar.gz + else + sudo rm -r opencv-2.4.13 + tar -xf opencv-2.4.13.tar.gz + + # go into opencv-2.4.13 folder and prepare for build + cd opencv-2.4.13 + + # compile and install + mkdir build + cd build + cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local .. + sudo make install + + #test if it's successfully + #cmake -E chdir "build" ctest --build-config Release + + echo "opencv-2.4.13 has been installed successfully if there's no error" +} + + +# MAIN +main diff --git a/install_opencv2_4gcc6.sh b/install_opencv2_4gcc6.sh new file mode 100755 index 0000000..d36abc5 --- /dev/null +++ b/install_opencv2_4gcc6.sh @@ -0,0 +1,39 @@ +#!/bin/bash +set -e # exit on first error +UBUNTU_VERSION=`lsb_release --release | cut -f2` +SRC_PATH="/tmp" +OPENCV_BENCHMARK_VERSION=v2.4.13 + +main(){ + if [ $UBUNTU_VERSION == "16.04" ]; then + install_opencv_2_4 + fi +} + +install_opencv_2_4() { + cp opencv-2.4.13-gcc6.tar.gz $SRC_PATH + cd $SRC_PATH + if [! -d opencv-2.4.13]; then + tar -xf opencv-2.4.13-gcc6.tar.gz + else + sudo rm -r opencv-2.4.13 + tar -xf opencv-2.4.13-gcc6.tar.gz + + # go into opencv-2.4.13 folder and prepare for build + cd opencv-2.4.13 + + # compile and install + mkdir build + cd build + cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local .. -DENABLE_PRECOMPILED_HEADERS=OFF + sudo make install + + #test if it's successfully + #cmake -E chdir "build" ctest --build-config Release + + echo "opencv-2.4.13 has been installed successfully if there's no error" +} + + +# MAIN +main diff --git a/install_osqp.sh b/install_osqp.sh new file mode 100755 index 0000000..d70f08e --- /dev/null +++ b/install_osqp.sh @@ -0,0 +1,46 @@ +#!/bin/bash +set -e # exit on first error +UBUNTU_VERSION=`lsb_release --release | cut -f2` +SRC_PATH="/tmp" + +main(){ + if [ $UBUNTU_VERSION == "16.04" ]; then + install_osqp + install_osqp_eigen + fi +} + +install_osqp() { + cp Osqp.zip $SRC_PATH + cd $SRC_PATH + unzip Osqp.zip + + # go into Osqp folder and prepare for build + cd $SRC_PATH + cd Osqp/osqp + + # compile and install + mkdir -p build + cd build + cmake ../ + sudo make install + + echo "Osqp has been installed successfully if there's no error" +} + +install_osqp_eigen() { + cd $SRC_PATH + cd Osqp/osqp-eigen + + # compile and install + mkdir -p build + cd build + cmake ../ + sudo make install + + echo "osqp_eigen has been installed successfully if there's no error" +} + + +# MAIN +main diff --git a/install_rosparem_handler.sh b/install_rosparem_handler.sh deleted file mode 100755 index 72e405f..0000000 --- a/install_rosparem_handler.sh +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/bash -set -e # exit on first error -UBUNTU_VERSION=`lsb_release --release | cut -f2` -SRC_PATH="../ivrc_ws/src/" -PARAMHANDLER_VERSION=0.1.3 - -main(){ - if [ $UBUNTU_VERSION == "16.04" ]; then - install_rosparam_handler - fi -} - -install_rosparam_handler() { - cd $SRC_PATH - # clone ceres-solver if directory does not already exist, or pull - if [ ! -d rosparam_handler ]; then - git clone https://github.com/cbandera/rosparam_handler.git - else - cd rosparam_handler - git checkout master - git pull - cd .. - fi - - # go into ceres-solver repo and prepare for build - cd rosparam_handler/ - git checkout master - git checkout tags/${PARAMHANDLER_VERSION} - mkdir -p build - cd build - - cmake -DBUILD_SHARED_LIBS=ON .. - - - # compile and install - make -j$(nproc) 2>&1 | grep ... - sudo make install - -} - - -# MAIN -main diff --git a/opencv-2.4.13-gcc6.tar.gz b/opencv-2.4.13-gcc6.tar.gz new file mode 100644 index 0000000..6b225c0 Binary files /dev/null and b/opencv-2.4.13-gcc6.tar.gz differ diff --git a/opencv-2.4.13.tar.gz b/opencv-2.4.13.tar.gz new file mode 100755 index 0000000..2d0d155 Binary files /dev/null and b/opencv-2.4.13.tar.gz differ