Development-environment.md

Development environment

系统环境：

• Ubuntu18.04 LTS
• ROS melodic 1.14.11
• Unitree_Ros

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目录：

• Development environment
  • - Unitree_Ros
  • - librealsense 安装
  • - [x] 需要完善整体框架
• 脚本
• 安装过程(这是一个痛苦的过程)
  • 切换清华源(建议)
  • tools 安装
    • 更新软件源
    • Git 安装
    • ifconfig 安装
    • 修改静态IP地址(可选)
    • SSH server 安装 + 开启
  • App 安装(建议)
    • vscode 安装
    • 分屏终端
    • XRDP 远程GUI
  • ROS melodic 安装
    • ROS melodic install
    • ROS 依懒
  • SLAM + Unitree 依赖安装
    • GTSAM 安装
    • LIO-SAM本体安装(可选项)
    • LCM 安装
  • unitree_legged_sdk安装
  • 环境变量配置
  • librealsense 安装

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待解决问题：

• LIO-SAM和unitree_ros的catkin_ws文件名冲突问题
• 修改链接部分到我Github上
• 需要完善整体框架

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脚本

安装过程较为繁琐，写了脚本来完成大部分安装工作

ROS-melodic.sh 位置在 tsinghua-Unitree-ROS/scripts
包括: 换清华源 + 软件更新 + ROS melodic 本体和依懒的安装

Tool+App-Install.sh 位置在 tsinghua-Unitree-ROS/scripts
包括: git + net-tools + openssh-server + terminator + neofetch + htop 和 VScode

Unitree-A1-environment.sh 位置在 tsinghua-Unitree-ROS/scripts
包括: GTSAM + LCM + unitree_legged_sdk + librealsense

用法: 以 ROS-melodic.sh 为列

chmod u+x ROS-melodic.sh
./ROS-melodic.sh

更换源: http://wiki.ros.org/ROS/Installation/UbuntuMirrors

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安装过程(这是一个痛苦的过程)

切换清华源(建议)

来源： https://mirror.tuna.tsinghua.edu.cn/help/ubuntu/

或者可以自行替换 中科大源: http://mirrors.ustc.edu.cn/help/ubuntu.html
PS: USTC 里面的 sed 用法太骚了

sudo gedit /etc/apt/sources.list

把以下内容都复制粘贴进去

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

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tools 安装

更新软件源

sudo apt update
sudo apt -y upgrade
sudo apt-get update
sudo apt-get -y upgrade

Git 安装

sudo apt install -y git

ifconfig 安装

sudo apt install -y net-tools

修改静态IP地址(可选)

来源: Ubuntu 18.04 修改静态ip

sudo gedit /etc/netplan/01-network-manager-all.yaml

模板:

network:
  version: 2
  #renderer: NetworkManager
  ethernets:
    enp97s0f0: #ifcong自行 选择网卡
        addresses: [192.168.1.102/24] #镭神激光雷达指定host
        gateway4: 192.168.1.1 #路由器IP
        dhcp4: no
        dhcp6: no
        optional: true

配置生效

sudo netplan apply

SSH server 安装 + 开启

状态查看

dpkg -l | grep ssh

一般来说直接install openssh-server就行

sudo apt-get install -y openssh-server

如果不行就重新装

sudo apt-get autoremove  openssh-client openssh-server 
sudo apt-get install -y openssh-client openssh-server
/etc/init.d/ssh restart #重启ssh ，测试成功

App 安装(建议)

vscode 安装

下载deb包: https://code.visualstudio.com/

sudo dpkg -i code[tab]

分屏终端

sudo apt-get install -y terminator

XRDP 远程GUI

Install-xrdp-3.0.sh 位置在 tsinghua-Unitree-ROS/scripts

chmod u+x Install-xrdp-3.0.sh
./Install-xrdp-3.0.sh

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ROS melodic 安装

安装方式有两种:

1. 用脚本安装(建议)
2. 像个机器人一样一个一个输入下面bash命令

ROS melodic install

来源： http://wiki.ros.org/melodic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install -y curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install -y ros-melodic-desktop-full

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

source ~/.bashrc

sudo apt install -y python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo rosdep init

rosdep update

ROS 依懒

完成安装 下面依懒 + tutorials 方便测试是否装成功(可选)

sudo apt-get install -y python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher

# 虚拟机测试发现缺下面依赖
sudo apt-get install -y ros-melodic-ddynamic-reconfigure       

sudo apt-get install -y libpcap-dev

测试(可选)

sudo apt-get install -y ros-melodic-ros-tutorials

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SLAM + Unitree 依赖安装

GTSAM 安装

GTSAM: Georgia Tech Smoothing and Mapping library
来源：https://github.com/borglab/gtsam/releases

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip

cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/

cd ~/Downloads/gtsam-4.0.2/

mkdir build && cd build

cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..

sudo make install  #不成功就后面 -j1 (内存过小) 

LIO-SAM本体安装(可选项)

LIO-SAM 需要特别注意是catkin_ws和 unitree_ros的catkin_ws 可能会重叠，后续待解决

cd ~/catkin_ws/src  
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

LCM 安装

ROS unitree_legged_sdk 前先编译LCM LCM-UDP： 数据通信相关

cd
git clone https://github.com/lcm-proj/lcm.git
cd lcm && mkdir build && cd build
cmake ..
make
sudo make install

unitree_legged_sdk安装

来源: https://github.com/unitreerobotics/unitree_legged_sdk

cd
git clone https://github.com/unitreerobotics/unitree_legged_sdk.git
cd unitree_legged_sdk && mkdir build && cd build
cmake ..
make

环境变量配置

配置环境变量: ~/.bashrc

source /opt/ros/melodic/setup.bash
# melodic 默认装gazebo-9
source /usr/share/gazebo-9/setup.sh 
# 有需要把catkin_ws替换你的工作空间
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}

export UNITREE_SDK_VERSION=3_2
export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
# amd64, arm32, arm64 根据你平台设备选择
export UNITREE_PLATFORM="amd64"
# 可选
source ~/ROS_ws/devel/setup.bash

librealsense 安装

Download tar.gz
Github librealsense

cd librealsense
sudo apt update && sudo apt -y upgrade
sudo apt-get install -y git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
mkdir build && cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true
sudo make uninstall
make clean
make ##不能多核编译，会报错(应该是内存不足原因)
sudo make install

测试

realsense-viewer 

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unitree ROS ： unitree_ros 编译 (可选)

文档链接: ROS_ws

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
git clone https://github.com/unitreerobotics/a1_ros.git
catkin_make

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