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/
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.gitmkdir <kdl-dir>/build ; cd <kdl-dir>/build
cmake ..
make;
make check;
sudo make installIn 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 install4 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 install5 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/local6.2 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:$GOROOT/bin:$PATH6.3 Update current shell session
source ~/.profileThis 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/amd646.5 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 updatesudo apt-get install gfortranVScode 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.listYou 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 openmodelica8.2 plan 2
https://github.com/OpenModelica/OpenModelica
OpenModelica User's Guide
