机器人软件开发：机器人开源库安装

现在的机器人研发已经从闭源过渡到开源时代，开源库的兴起加速了机器人的研发进程。目前大都数的机器人开源库主要用于机器人建模、仿真和控制。以下列举几种常见的建模仿真控制库，辅助机器人开发过程。

1 ODE：

一个免费的工业质量库，用于模拟铰接式刚体动力学-例如VR环境中的地面车辆，有腿动物和移动物体。快速，灵活和强大。内置碰撞检测。链接：https://bitbucket.org/odedevs/ode/src/master/

ODE是用于模拟刚体动力学的开源高性能库。它具有易于使用的C / C ++ API，功能齐全，稳定，成熟并且独立于平台。它具有先进的接头类型和带有摩擦的集成碰撞检测。ODE对于模拟车辆，虚拟现实环境中的对象和虚拟生物很有用。当前，它被用于许多计算机游戏，3D创作工具和模拟工具。

git clone https://bitbucket.org/odedevs/ode.git

  $ mkdir ../ode-build 
   $ cd ../ode-build
   $ cmake ../ode-src

安装说明： https://www.orocos.org/kdl/installation-manual

2 KDL:

KDL（Kinematics and Dynamics）：机器人运动学与动力学组件，为运动学提供了实时的动力学约束计算，这个组件非常有用，有了这个组件，很多机器人开发者可以快速地开发机器人算法。

Kinematic Trees: 链或树形结构。KDL使用图论中的术语来定义：

• A closed-loop mechanism is a graph, 闭链机构是一幅图
• an open-loop mechanism is a tree, 开链机构是一棵树
• an unbranched tree is a chain. 没有分支的树是一个运动链

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

mkdir <kdl-dir>/build ; cd <kdl-dir>/build
cmake ..
make;
make check;
sudo make install

KDL tree

In the /usr/local/include there will be kdl ; and in the /usr/local/lib, there will be liborocos-kdl.so, liborocos-kdl.so.1.4.0, liborocos-kdl.so.1.4.

3 iDynTree

$ git clone https://github.com/robotology/idyntree
$ cd idyntree
$ mkdir build && cd build
$ cmake ..
$ make
$ [sudo] make install

4 kdl_codyco

相关链接地址：

https://github.com/robotology-legacy/kdl_codyco

http://eigen.tuxfamily.org/index.php?title=Main_Page

$ mkdir build && cd build
$ cmake ..
$ make
$ [sudo] make install

5 YCM install

git clone https://github.com/ycm-core/YouCompleteMe.git
cd YouCompleteMe

6 Install Go 1.11 on Ubuntu 18.04 & 16.04 LTS

https://medium.com/better-programming/install-go-1-11-on-ubuntu-18-04-16-04-lts-8c098c503c5f

6.1 Install Go language

Upgrade to apply the latest security updates on Ubuntu.

sudo apt-get update
sudo apt-get -y upgrade
cd /tmp
wget https://dl.google.com/go/go1.11.linux-amd64.tar.gz
sudo tar -xvf go1.11.linux-amd64.tar.gz
sudo mv go /usr/local

6.2 Set up Go environment

Now, let’s set up Go language environment variables GOROOT , GOPATH and PATH.

GOROOT is the location where the Go package is installed on your system.

GOPATH is the location of your work directory. For example, here directory is ~/go .

Open your .profile file and add a global variable at the end of the file. You may want to add this into a .zshrc or.bashrc file as per your shell configuration.

export GOROOT=/usr/local/go
export GOPATH=$HOME/go
export PATH=$GOPATH/bin:$GOROOT/bin:$PATH

6.3 Update current shell session

source ~/.profile

This will allow you to use go commands without restarting your terminal.

6.4 Verify installation

You have successfully installed and configured Go language on your system.

To check Go version:

go version// go version go1.11 linux/amd64

6.5 Go install

• 获取最新的软件包源，并添加至当前的apt库 add-apt-repository ppa:longsleep/golang-backports
• 更新 apt库 apt-get update
• 安装go sudo apt-get install golang-go
• 鉴定是否安装成功 go version

7 How to Install Fortran Compiler in Linux

sudo apt-get update

sudo apt-get install gfortran

VScode install

https://code.visualstudio.com/docs/?dv=linux64_deb

8 openmodelica

8.1 Plan1

https://openmodelica.org/download/download-linux

We provide .deb packages compiled on Ubuntu and Debian

for deb in deb deb-src; do echo "$deb http://build.openmodelica.org/apt `lsb_release -cs` nightly"; done | sudo tee /etc/apt/sources.list.d/openmodelica.list
for deb in deb deb-src; do echo "$deb http://build.openmodelica.org/apt `lsb_release -cs` stable"; done | sudo tee /etc/apt/sources.list.d/openmodelica.list
for deb in deb deb-src; do echo "$deb http://build.openmodelica.org/apt `lsb_release -cs` release"; done | sudo tee /etc/apt/sources.list.d/openmodelica.list

You will also need to import the GPG key used to sign the releases:

wget -q http://build.openmodelica.org/apt/openmodelica.asc -O- | sudo apt-key add - 
# To verify that your key is installed correctly
apt-key fingerprint
# Gives output:
# pub   2048R/64970947 2010-06-22
#      Key fingerprint = D229 AF1C E5AE D74E 5F59  DF30 3A59 B536 6497 0947
# uid                  OpenModelica Build System 

Then update and install OpenModelica

sudo apt update
sudo apt install openmodelica

8.2 plan 2

https://github.com/OpenModelica/OpenModelica

OpenModelica User's Guide