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- 1. 安装vscode及其插件
- (1)官网(https://code.visualstudio.com/docs/?dv=linuxarm64_deb)下载arm的vscode文件
- (2)安装:sudo dpkg -i code_1.78.2-1683731010_amd64.deb
- (3)修改背景为白色:File -> Preferences -> Theme -> Color Theme[Ctrl+k Ctrl+T] - > Light(Visual Stdio)
- (4)升级:sudo apt-get update,sudo apt-get install code
- (5)安装基本插件:C/C++、c/c++ Extension Pack、CMake、CMake Tools、catkin-tools、ros
- 2. 安装Eigen库
- (1) 官网下载(tar.gz文件):https://eigen.tuxfamily.org
- 4. 安装json库
- 5. 安装serial
- sudo apt-get install ros-noetic-serial
- 6. 安装PCL
- (1) sudo apt update
- (2) sudo apt install libpcl-dev (该命令将会安装pcl的所有依赖库、开发工具和文档等)
- (3) sudo apt install pcl-tools (该命令将会安装pcl的可视化工具:pcl_viewer、pcl_convert_pcd_ascii_binary)
- (4) 总结:
- (a) 安装完成后,可在/usr/include/pcl-1.10目录下找到PCL的头文件
- (b) 可在代码中使用#include <pcl/XXX.h>来包含这些头文件
- (c) 查看pcl版本: dpkg -l | grep libpc
- (d) 检查是否安装成功:pcl_viewer xxx.pcd(查看是否打开相应点云数据)
- 7. 将程序SlagPotCarrier_ws拷贝到home/workspace目录里面,解压
- 8. 打开终端
- (1) cd workspace/SlagPotCarrier_ws
- (2) catkin_make
- 若第2步没有错误,就表示程序编译通过
- 9. 读取配置文件
- (1)打开终端
- (2)cd workspace/SlagPotCarrier_ws
- (3) source devel/setup.bash
- (4) roslaunch config_pkg read_config.launch
- 10. 读取RTK数据
- (1)打开终端
- (2)cd workspace/SlagPotCarrier_ws
- (3) source devel/setup.bash
- (4) roslaunch rtk_imu_pkg rtk_imu.launch
- 11.融合定位输出
- (1)打开终端
- (2)cd workspace/SlagPotCarrier_ws
- (3) source devel/setup.bash
- (4) roslaunch fusion_localization_pkg fusion_localization.launch
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