Instalação Carmen para Ubuntu 12.04.3
Atualizar o apt:
sudo apt-get update
Atualizar os pacotes:
sudo apt-get dist-upgrade
Instalar o subversion, gimp, meld e vim:
sudo apt-get install gimp meld subversion vim
Instalar os pacotes para o carmem:
sudo apt-get install swig \ libgtk2.0-dev \ qt-sdk \ libqt3-mt libqt3-mt-dev qt3-dev-tools \ libimlib2 libimlib2-dev \ imagemagick libmagick++-dev \ libwrap0 libwrap0-dev tcpd \ libncurses5 libncurses5-dev \ libgsl0-dev libgsl0ldbl \ libdc1394-22 libdc1394-22-dev libdc1394-utils \ cmake \ libgtkglext1 libgtkglext1-dev \ libgtkglextmm-x11-1.2-0 libgtkglextmm-x11-1.2-dev \ libglade2-0 libglade2-dev \ freeglut3 freeglut3-dev \ libcurl3 libcurl3-nss libcurl4-nss-dev \ libglew1.5 libglew1.5-dev libglewmx1.5 libglewmx1.5-dev glew-utils1.5 \ libkml0 libkml-dev \ liburiparser1 liburiparser-dev \ git \ libusb-1.0-0 libusb-1.0-0-dev libusb-dev \ libxi-dev libxi6 \ libxmu-dev libxmu6 \ build-essential libforms-dev \ byacc \ flex \ doxygen \ libespeak-dev
Instalar o Java:
sudo add-apt-repository ppa:webupd8team/java sudo apt-get update && sudo apt-get install oracle-jdk7-installer update-alternatives --display java
Edite o arquivo /etc/environment:
sudo gedit /etc/environment
Adicione no final do arquivo:
JAVA_HOME=/usr/lib/jvm/java-7-oracle
Instalar o eclipse:
Baixe o eclipse de:
http://www.eclipse.org/downloads/
Descompacte o ecplise
cd Downloads/ sudo mv eclipse-cpp-kepler-R-linux-gtk-x86_64.tar.gz /opt cd /opt/ sudo tar -xvf eclipse-cpp-kepler-R-linux-gtk-x86_64.tar.gz
Crie um arquivo desktop e edite ele em /usr/share/applications:
sudo gedit /usr/share/applications/eclipse.desktop
Coloque o seguinte conteudo:
[Desktop Entry] Name=Eclipse Type=Application Exec=/opt/eclipse/eclipse Terminal=false Icon=/opt/eclipse/icon.xpm Comment=Integrated Development Environment NoDisplay=false Categories=Development;IDE Name[en]=Eclipse
Instale as deps da PCL:
sudo apt-get install libeigen3-dev libboost-all-dev libflann-dev libvtk5-dev cmake-gui
Instale as deps do OpenCV:
sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev \ libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev \ libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev \ libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev \ libavcodec-dev libavformat-dev libswscale-dev
Baixar os arquivos:
sudo su cd /usr/local/ wget http://bullet.googlecode.com/files/bullet-2.78-r2387.tgz wget http://downloads.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.9/opencv-2.4.9.zip?r=http%3A%2F%2Fsourceforge.net%2Fprojects%2Fopencvlibrary%2Ffiles%2Flatest%2Fdownload%3Fsource%3Dfiles&ts=1410363367&use_mirror=ufpr wget http://downloads.sourceforge.net/project/fann/fann/2.2.0/FANN-2.2.0-Source.tar.gz?r=http%3A%2F%2Fsourceforge.net%2Fprojects%2Ffann%2Ffiles%2Ffann%2F2.2.0%2FFANN-2.2.0-Source.tar.gz%2Fdownload%3Fuse_mirror%3Dufpr%26r%3Dhttp%253A%252F%252Fsourceforge.net%252Fprojects%252Ffann%252F%26use_mirror%3Dufpr&ts=1399384009&use_mirror=ufpr wget http://www.kvaser.com/software/7330130980754/V5_3_0/linuxcan.tar.gz tar -xvf bullet-2.78-r2387.tgz tar -xvf opencv-2.4.6.1.tar.gz tar -xvf linuxcan.tar.gz mv FANN-2.2.0-Source.tar.gz\?r\=http\:%2F%2Fsourceforge.net%2Fprojects%2Ffann%2F FANN-2.2.0-Source.tar.gz tar -xvf FANN-2.2.0-Source.tar.gz mv bullet-2.78 bullet cd bullet ./configure make make install cd .. cd linuxcan make make install cd .. cd FANN-2.2.0-Source mkdir build cd build cmake .. make make install cd ../.. cd opencv-2.4.6.1 mkdir build cd build cmake -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON .. make make install
Edite o arquivo /etc/ld.so.conf.d/opencv.conf
gedit /etc/ld.so.conf.d/opencv.conf
Adicione ao final dele:
/usr/local/lib
Execute:
ldconfig
Edite o arquivo /etc/bash.bashrc:
gedit /etc/bash.bashrc
Adicione no final do arquivo:
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig export PKG_CONFIG_PATH
sair do rooot
exit
Baixe o carmen:
svn co http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen
Baixe a MAE:
svn co http://www.lcad.inf.ufes.br/svn/MAE
Coloque no .bashrc:
#CARMEN export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib:/usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu/:/usr/lib/libkml export CARMEN_HOME=~/carmen #MAE export MAEHOME=~/MAE export PATH=$PATH:$MAEHOME/bin
Instale os pacotes imlib e flycapture:
cd $CARMEN_HOME/ubuntu_packages/ dpkg -i imlib_1.9.15-20_amd64.deb dpkg -i imlib-devel_1.9.15-20_amd64.deb tar -xvf flycapture2-2.5.3.4-amd64-pkg.tgz cd flycapture2-2.5.3.4-amd64/ sudo apt-get install libglademm-2.4-1c2a sudo apt-get install libglademm-2.4-dev sudo apt-get install libgtkmm-2.4-dev sudo sh install_flycapture.sh
Faça os links:
ln -s /usr/lib64/libgdk_imlib.so.1.9.15 /usr/lib64/libgdk_imlib.a ln -s /usr/src/linux-headers-3.8.0-30/ /usr/src/linux
Instale a PCL:
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all
Instale a câmera Kinect:
sudo su mkdir /usr/local/tplib cd /usr/local/tplib
Baixe o libfreenect
git clone git://github.com/OpenKinect/libfreenect.git
cd libfreenect mkdir build cd build cmake .. cp src/libfreenect.pc /usr/local/tplib/ make cp ../src/libfreenect.pc.in src/libfreenect.pc cp ../fakenect/fakenect.sh.in fakenect/fakenect.sh make install ldconfig /usr/local/lib64/ exit
Execute:
glview
Caso dê erro, tente:
freenect-glview
Se der erro execute:
sudo ldconfig /usr/local/lib64/
Instalação da biblioteca G2O:
sudo apt-get install cmake libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-qt4-dev cd /usr/local/ sudo svn co https://svn.openslam.org/data/svn/g2o cd /usr/local/g2o/trunk/build/ sudo cmake ../ -DBUILD_CSPARSE=ON -DG2O_BUILD_DEPRECATED_TYPES=ON -DG2O_BUILD_LINKED_APPS=ON sudo make sudo make install
Alterações extras para o ubuntu 14.04 (não faça as mudanças caso você use o 12.04):
cd $CARMEN_HOME/ubuntu_packages/ sudo dpkg -i zlib1g_1.2.3.4.dfsg-3ubuntu4_amd64.deb sudo dpkg -i zlib1g-dev_1.2.3.4.dfsg-3ubuntu4_amd64.deb sudo ln -s /usr/lib/x86_64-linux-gnu/libboost_thread.so /usr/lib/x86_64-linux-gnu/libboost_thread-mt.so
Observações importantes: Os pacotes libqt3-mt libqt3-mt-dev qt3-dev-tools do inicio da instalação não existem no 14.04, porém é possivel que ninguem use mais o QT3 no carmen, caso alguém saiba sobre o uso do QT3 fazer as devidas alterações O pacote glew-utils1.5 não existe mais, porém instalei o pacote libglew-dev e o carmen compilou sem problemas. Favor verificar se essa mudança é valida e se ela também pode ser aplicada ao 12.04 O pacote libqglviewer-qt4-dev não tem candidatos no ubuntu 14.04, ele é realmente necessário? Caso alguem faça uma instalação limpa no ubuntu 12.04 verificar se fica tudo ok sem ele.
Feche todos os terminais e faça:
cd $CARMEN_HOME/src ./configure --nojava --nocuda Should the C++ tools be installed for CARMEN: [Y/n] Y Should Python Bindings be installed: [y/N] y Searching for Python2.4... Should the old laser server be used instead of the new one: [y/N] N Install path [/usr/local/]: Robot numbers [*]: 1,2 make
Caso dê erro por causa da libusb.h vá no arquivo:
sudo vim /usr/local/include/libfreenect.hpp
E altere #include <libusb.h> para
#include <libusb-1.0/libusb.h>