Linux 35.5 + JetPack v5.1.3@RACER编译安装 - ToB企服应用市场:ToB评测及商务社交产业平台

$ rosversion --distro
noetic

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$ git log -n 1
commit ea774df1f1a40c0bc77dd8cbde74bfd9b8fb690f (HEAD -> main, origin/main, origin/HEAD)
Merge: d8487e2 dcd8a73
Author: Boyu Zhou <uv.boyuzhou@gmail.com>
Date: Tue Apr 23 19:20:42 2024 +0800
Merge pull request #22 from yinleung/patch-1
Update README.md

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$ sudo apt-get install libarmadillo-dev ros_${ROS_VERSION_NAME}_nlopt libelf-dev libdw-dev

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$ wget http://akira.ruc.dk/~keld/research/LKH-3/LKH-3.0.6.tgz
$ tar xvfz LKH-3.0.6.tgz
$ cd LKH-3.0.6
$ make
$ sudo cp LKH /usr/local/bin

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$ mkdir -p ${YOUR_WORKSPACE_PATH}/src
$ cd ${YOUR_WORKSPACE_PATH}/src
$ git clone git@github.com:SYSU-STAR/RACER.git

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$ cd ${YOUR_WORKSPACE_PATH}
$ catkin_make

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$ source devel/setup.bash && roslaunch exploration_manager rviz.launch

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$ source devel/setup.bash && roslaunch exploration_manager swarm_exploration.launch

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[ 86%] Building CXX object RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/src/multi_map_visualization.cc.o
/home/daniel/HKUST/RACER/src/RACER/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc:5:10: fatal error: multi_map_server/MultiOccupancyGrid.h: No such file or directory
5 | #include <multi_map_server/MultiOccupancyGrid.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/build.make:63: RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/src/multi_map_visualization.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:6342: RACER/uav_simulator/Utils/multi_map_server/CMakeFiles/multi_map_visualization.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

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$ sudo apt-get install ros-noetic-multi-map-server

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$ git diff swarm_exploration/plan_env/CMakeLists.txt
diff --git a/swarm_exploration/plan_env/CMakeLists.txt b/swarm_exploration/plan_env/CMakeLists.txt
index bafe24e..cf26968 100644
--- a/swarm_exploration/plan_env/CMakeLists.txt
+++ b/swarm_exploration/plan_env/CMakeLists.txt
@@ -63,10 +63,11 @@ add_library( plan_env
target_link_libraries( plan_env
${catkin_LIBRARIES}
${PCL_LIBRARIES}
+ ${OpenCV_LIBS}
)
add_executable(obj_generator
src/obj_generator.cpp
)
target_link_libraries(obj_generator
- ${catkin_LIBRARIES})
\ No newline at end of file
+ ${catkin_LIBRARIES})

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$ git diff uav_simulator/local_sensing/CMakeLists.txt
diff --git a/uav_simulator/local_sensing/CMakeLists.txt b/uav_simulator/local_sensing/CMakeLists.txt
index bd28736..608f0fc 100644
--- a/uav_simulator/local_sensing/CMakeLists.txt
+++ b/uav_simulator/local_sensing/CMakeLists.txt
@@ -3,8 +3,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-#set(ENABLE_CUDA true)
-set(ENABLE_CUDA false)
+set(ENABLE_CUDA true)
+#set(ENABLE_CUDA false)
if(ENABLE_CUDA)
find_package(CUDA REQUIRED)
@@ -17,7 +17,8 @@ if(ENABLE_CUDA)
# -gencode arch=compute_50,code=sm_50;
# -gencode arch=compute_52,code=sm_52;
# -gencode arch=compute_60,code=sm_60;
- -gencode arch=compute_61,code=sm_61;
+# -gencode arch=compute_61,code=sm_61;
+ -gencode arch=compute_87,code=sm_87;
)
SET(CUDA_PROPAGATE_HOST_FLAGS OFF)

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/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:6:10: fatal error: lkh_tsp_solver/SolveTSP.h: No such file or directory
6 | #include <lkh_tsp_solver/SolveTSP.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [RACER/swarm_exploration/utils/lkh_tsp_solver/CMakeFiles/tsp_node.dir/build.make:1428: RACER/swarm_exploration/utils/lkh_tsp_solver/CMakeFiles/tsp_node.dir/src2/tsp_node.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....

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In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/src/sdf_map.cpp:3:
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/include/plan_env/multi_map_manager.h:7:10: fatal error: plan_env/ChunkStamps.h: No such file or directory
7 | #include <plan_env/ChunkStamps.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/src/multi_map_manager.cpp:2:
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/plan_env/include/plan_env/multi_map_manager.h:7:10: fatal error: plan_env/ChunkStamps.h: No such file or directory
7 | #include <plan_env/ChunkStamps.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [RACER/swarm_exploration/plan_env/CMakeFiles/plan_env.dir/build.make:128: RACER/swarm_exploration/plan_env/CMakeFiles/plan_env.dir/src/multi_map_manager.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....

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In file included from /home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:6:
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:22:9: error: ‘SolveTSPResponse’ does not name a type; did you mean ‘SolveTSPRequest’?
22 | typedef SolveTSPResponse Response;
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:24:1: error: ‘Response’ does not name a type
24 | Response response;
| ^~~~~~~~
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:27:9: error: ‘Response’ does not name a type
27 | typedef Response ResponseType;
| ^~~~~~~~
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:34: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:34: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:93:50: error: template argument 1 is invalid
93 | struct MD5Sum< ::lkh_tsp_solver::SolveTSPResponse>
| ^
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:36: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:36: error: ‘SolveTSPResponse’ is not a member of ‘lkh_tsp_solver’; did you mean ‘SolveTSPRequest’?
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^~~~~~~~~~~~~~~~
| SolveTSPRequest
/home/daniel/SYSU-STAR/RACER/devel/include/lkh_tsp_solver/SolveTSP.h:108:52: error: template argument 1 is invalid
108 | struct DataType< ::lkh_tsp_solver::SolveTSPResponse>
| ^
/home/daniel/SYSU-STAR/RACER/src/RACER/swarm_exploration/utils/lkh_tsp_solver/src2/tsp_node.cpp:11:84: error: ‘lkh_tsp_solver::SolveTSP::Response’ has not been declared
11 | bool tspCallback(lkh_tsp_solver::SolveTSP::Request& req, lkh_tsp_solver::SolveTSP::Response& res) {

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$ git status
On branch main
Your branch is up to date with 'origin/main'.
Changes not staged for commit:
(use "git add <file>..." to update what will be committed)
(use "git restore <file>..." to discard changes in working directory)
modified: swarm_exploration/plan_env/CMakeLists.txt
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_1.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_2.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_3.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp2_4.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_1.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_2.tour
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.atsp
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.par
modified: swarm_exploration/utils/lkh_mtsp_solver/resource/amtsp3_3.tour
modified: uav_simulator/local_sensing/CMakeLists.txt
no changes added to commit (use "git add" and/or "git commit -a")
daniel@nvidia:~/SYSU-STAR/RACER/src/RACER$ git checkout swarm_exploration/utils
Updated 21 paths from the index
daniel@nvidia:~/SYSU-STAR/RACER/src/RACER$ git status
On branch main
Your branch is up to date with 'origin/main'.
Changes not staged for commit:
(use "git add <file>..." to update what will be committed)
(use "git restore <file>..." to discard changes in working directory)
modified: swarm_exploration/plan_env/CMakeLists.txt
modified: uav_simulator/local_sensing/CMakeLists.txt
no changes added to commit (use "git add" and/or "git commit -a")

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$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && roslaunch exploration_manager rviz.launch

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$ cd ${YOUR_WORKSPACE_PATH}
$ source devel/setup.bash && rosrun map_generator click_map

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$ source devel/setup.bash && rosrun map_generator map_recorder ~/

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