LCAD - Contribuições do(a) usuário(a) [pt-br]

Instalação Carmen para Ubuntu 12.04.3

2015-12-21T09:52:09Z

Michael André Gonçalves:

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

caso de erro em libcheese-gtk23 instale os pacotes abaixo antes dos anteriores (Solucão nao confirmada):
sudo apt-get install libglew-dev libcheese7 libcheese-gtk23 libclutter-gst-2.0-0 libcogl15 libclutter-gtk-1.0-0 libclutter-1.0-0

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
wget http://downloads.sourceforge.net/project/fann/fann/2.2.0/FANN-2.2.0-Source.tar.gz
wget http://www.kvaser.com/software/7330130980754/V5_3_0/linuxcan.tar.gz
tar -xvf bullet-2.78-r2387.tgz
unzip opencv-2.4.9.zip
tar -xvf linuxcan.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-2.4.9
mkdir build
cd build
cmake -D WITH_TBB=ON -D WITH_CUDA=OFF -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/
sudo dpkg -i imlib_1.9.15-20_amd64.deb
sudo 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
cd /usr/local
wget http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.19/libusb-1.0.19.tar.bz2
tar xvf libusb-1.0.19.tar.bz2
cd libusb-1.0.19
./configure
make
make install

se der erro na instalacao acima tente instalar a udev-dev antes:
sudo apt-get install libudev-dev

mkdir /usr/local/tplib
cd /usr/local/tplib
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>

Instalação Carmen para Ubuntu 12.04.3

2015-12-21T02:01:31Z

Michael André Gonçalves:

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

caso de erro em libcheese-gtk23 instale os pacotes abaixo antes dos anteriores (Solucão nao confirmada):
sudo apt-get install libglew-dev libcheese7 libcheese-gtk23 libclutter-gst-2.0-0 libcogl15 libclutter-gtk-1.0-0 libclutter-1.0-0

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
wget http://downloads.sourceforge.net/project/fann/fann/2.2.0/FANN-2.2.0-Source.tar.gz
wget http://www.kvaser.com/software/7330130980754/V5_3_0/linuxcan.tar.gz
tar -xvf bullet-2.78-r2387.tgz
unzip opencv-2.4.9.zip
tar -xvf linuxcan.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-2.4.9
mkdir build
cd build
cmake -D WITH_TBB=ON -D WITH_CUDA=OFF -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/
sudo dpkg -i imlib_1.9.15-20_amd64.deb
sudo 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
cd /usr/local
wget http://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.19/libusb-1.0.19.tar.bz2
tar xvf libusb-1.0.19.tar.bz2
cd libusb-1.0.19
./configure
make
make install

mkdir /usr/local/tplib
cd /usr/local/tplib
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>

Instalação Carmen para Ubuntu 12.04.3

2015-02-24T14:14:38Z

Michael André Gonçalves:

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>

Instalação Carmen para Ubuntu 12.04.3

2014-12-21T18:22:31Z

Michael André Gonçalves:

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):
dpkg -i zlib1g_1.2.3.4.dfsg-3ubuntu4_amd64.deb
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 glew-utils 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>

Instalação Carmen para Ubuntu 12.04.3

2014-12-21T18:15:28Z

Michael André Gonçalves:

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):
dpkg -i zlib1g_1.2.3.4.dfsg-3ubuntu4_amd64.deb
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

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>

Instalação Carmen para Ubuntu 12.04.3

2014-12-21T18:14:59Z

Michael André Gonçalves:

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)
dpkg -i zlib1g_1.2.3.4.dfsg-3ubuntu4_amd64.deb
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

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>

Instalação Carmen para Ubuntu 12.04.3

2014-12-21T18:14:27Z

Michael André Gonçalves:

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)
dpkg -i zlib1g_1.2.3.4.dfsg-3ubuntu4_amd64.deb
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

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>

Instalação para Ubuntu

2014-06-30T23:51:27Z

Michael André Gonçalves:

[[category:Carmen]]
Essa instalação é completa, mais é necessário testar todos os módulos.

Testado na versão 12.04 LTS. A mesma para a DRC.

'''Caso você tenha o Ubuntu 12.04.3 LTS utilize o tutorial [http://www.lcad.inf.ufes.br/wiki/index.php/Instala%C3%A7%C3%A3o_Carmen_para_Ubuntu_12.04.3 aqui]'''

= Preparação para a instalação do Carmen =

Instale o SVN:

sudo apt-get install subversion

Crie o diretório roboticaprobabilistica/code/ em sua home:
$ mkdir ~/roboticaprobabilistica/
$ mkdir ~/roboticaprobabilistica/code/

Execute um checkout de http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen na pasta ~/roboticaprobabilistica/code/

$ cd ~/roboticaprobabilistica/code/
$ svn co http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen

Colocar no arquivo .bashrc do usuario:
#CARMEN
export JAVA_HOME=/usr/lib/jvm/java-1.6.0-openjdk-amd64
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=~/roboticaprobabilistica/code/carmen

Instale as bibliotecas abaixo, com os seguintes comandos:

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 \
openjdk-6-jdk \
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 \
libboost-dev libboost-thread-dev libboost-signals-dev \
libespeak-dev libfann-dev

Instale os pacotes da imlib herdados do Fedora, esses pacotes não existem nos repositórios do Ubuntu!! (eles se encontram em carmen/ubuntu_packages):

dpkg -i imlib_1.9.15-20_amd64.deb
dpkg -i imlib-devel_1.9.15-20_amd64.deb

Instale a biblioteca flycapture da PtGrey com os seguintes comandos:
cd $CARMEN_HOME/ubuntu_packages/
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 seguintes links:

ln -s /usr/lib64/libgdk_imlib.so.1.9.15 /usr/lib64/libgdk_imlib.a
ln -s /usr/src/linux-headers-3.2.0-29/ /usr/src/linux

Confira se o link funcionou:
ls /usr/lib64/libgdk_imlib.a

Instale o driver kvaser (Baixe-o [http://www.kvaser.com/en/developer/canlib.html aqui])
mkdir /usr/local/Kvaser
mv linuxcan.tar.gz /usr/local/Kvaser/
cd /usr/local/Kvaser/
tar xvzf linuxcan.tar.gz
cd linuxcan/
make
make install

Instale o OpenCV na versão 2.2 (Baixe-o [http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.2/ aqui])
(obs: ubuntu 12.04 instale o 2.4 com esse tutorial http://www.samontab.com/web/2012/06/installing-opencv-2-4-1-ubuntu-12-04-lts/)

Copie-o e descompacte-o para uma pasta, (OPENCV_HOME de preferência). Para instalar execute os seguintes comandos de dentro da pasta descompactada que você baixou:

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON -D BUILD_EXAMPLES=ON ..
make
make install (como root)

Instale a Bullet Phisycs na Versão 2.78 (http://code.google.com/p/bullet/downloads/detail?name=bullet-2.78-r2387.tgz&can=2&q=)
mkdir /usr/local/bullet
mv bullet-2.78-r2387.tgz /usr/local/bullet/
cd /usr/local/bullet/
tar xzvf bullet-2.78-r2387.tgz
$ ./configure
$ make
# make install (como root)

Instale a PCL (Point Cloud Library):
Instale os seguintes pacotes:
$ sudo apt-get install libeigen3-dev libboost-all-dev libflann-dev libvtk5-dev cmake-gui

Instale os pacotes:
$ sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
$ sudo apt-get update
$ sudo apt-get install libpcl-all

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

= Instalação do carmen =

Instale e configure a câmera Kinect no linux. Siga as instruções em [[ Configurando o Pioneer 3DX no CARMEN]]

Depois dos passos acima, no diretorio src de carmen:

./configure --nocuda --nojava
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

Caso você tenha problemas com a libfann ao rodar o simulator_ackerman:
sudo rm /usr/local/libfann.so*
sudo apt-get install libfann-dev

Caso você queira usar versões mais novas do IPC do que as que acompanham o Carmen, baixe de:
http://www.cs.cmu.edu/afs/cs/project/TCA/www/ipc/index.html

Para instalar uma nova versão do IPC, logue como root e copie o .tar.gz para /usr/local e instale:
cd /usr/local
tar xzvf ipc-3.9.0.tar.gz
cd ipc-3.9.0
make install /* este comando pode gerar mas ainda assim estar tudo OK, ver abaixo (gmake não funciona no ubuntu use make)*/
ln -s ipc-3.9.0 ipc

Para saber se está tudo OK, verifique se a instalação produziu o central e libipc.a:
ls /usr/local/ipc/bin/Linux-2.6/
ls /usr/local/ipc/lib/Linux-2.6/

Finalmente, para configurar Carmen com um IPC novo, use o comando configure:
./configure --nocuda --nojava --ipc=/usr/local/ipc

Para compilar o carmen rode:
make

Instalação Carmen para Ubuntu 12.04.3

2013-11-20T09:53:38Z

Michael André Gonçalves:

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://ufpr.dl.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.6.1/opencv-2.4.6.1.tar.gz
wget http://www.kvaser.com/index.php?option=com_php&Itemid=288&swprod=73791d9c35c2b1beadd892d261ed799a&ean=0000000000000
tar -xvf bullet-2.78-r2387.tgz
tar -xvf opencv-2.4.6.1.tar.gz
tar -xvf linuxcan.tar.gz
mv bullet-2.78 bullet
cd bullet
./configure
make
make install
cd ..
cd linuxcan
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

Baixe a PCL:
git clone https://github.com/PointCloudLibrary/pcl pcl-trunk

Instale a pcl:
cd ~/pcl-trunk
mkdir build
cd build
cmake-gui
make
sudo make install

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

Se der erro execute:
sudo ldconfig /usr/local/lib64/

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

Instalação para Ubuntu

2013-10-07T14:00:04Z

Michael André Gonçalves:

[[category:Carmen]]
Essa instalação é completa, mais é necessário testar todos os módulos.

Testado na versão 12.04 LTS. A mesma para a DRC.

= Preparação para a instalação do Carmen =

Instale o SVN:

sudo apt-get install subversion

Crie o diretório roboticaprobabilistica/code/ em sua home:
$ mkdir ~/roboticaprobabilistica/
$ mkdir ~/roboticaprobabilistica/code/

Execute um checkout de http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen na pasta ~/roboticaprobabilistica/code/

$ cd ~/roboticaprobabilistica/code/
$ svn co http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen

Colocar no arquivo .bashrc do usuario:
#CARMEN
export JAVA_HOME=/usr/lib/jvm/java-1.6.0-openjdk-amd64
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=~/roboticaprobabilistica/code/carmen

Instale as bibliotecas abaixo, com os seguintes comandos:

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 \
openjdk-6-jdk \
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 \
libboost-dev libboost-thread-dev libboost-signals-dev \
libespeak-dev

Instale os pacotes da imlib herdados do Fedora, esses pacotes não existem nos repositórios do Ubuntu!! (eles se encontram em carmen/ubuntu_packages):

dpkg -i imlib_1.9.15-20_amd64.deb
dpkg -i imlib-devel_1.9.15-20_amd64.deb

Instale a biblioteca flycapture da PtGrey com os seguintes comandos:
cd $CARMEN_HOME/ubuntu_packages/
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 seguintes links:

ln -s /usr/lib64/libgdk_imlib.so.1.9.15 /usr/lib64/libgdk_imlib.a
ln -s /usr/src/linux-headers-3.2.0-29/ /usr/src/linux

Confira se o link funcionou:
ls /usr/lib64/libgdk_imlib.a

Instale o driver kvaser (Baixe-o [http://www.kvaser.com/en/developer/canlib.html aqui])
mkdir /usr/local/Kvaser
mv linuxcan.tar.gz /usr/local/Kvaser/
cd /usr/local/Kvaser/
tar xvzf linuxcan.tar.gz
cd linuxcan/
make
make install

Instale o OpenCV na versão 2.2 (Baixe-o [http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.2/ aqui])
(obs: ubuntu 12.04 instale o 2.4 com esse tutorial http://www.samontab.com/web/2012/06/installing-opencv-2-4-1-ubuntu-12-04-lts/)

Copie-o e descompacte-o para uma pasta, (OPENCV_HOME de preferência). Para instalar execute os seguintes comandos de dentro da pasta descompactada que você baixou:

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON -D BUILD_EXAMPLES=ON ..
make
make install (como root)

Instale a Bullet Phisycs na Versão 2.78 (http://code.google.com/p/bullet/downloads/detail?name=bullet-2.78-r2387.tgz&can=2&q=)
mkdir /usr/local/bullet
mv bullet-2.78-r2387.tgz /usr/local/bullet/
cd /usr/local/bullet/
tar xzvf bullet-2.78-r2387.tgz
$ ./configure
$ make
# make install (como root)

Instale a PCL (Point Cloud Library):
Instale os seguintes pacotes:
$ sudo apt-get install libeigen3-dev libboost-all-dev libflann-dev libvtk5-dev cmake-gui

Baixe a PCL:
$ git clone https://github.com/PointCloudLibrary/pcl pcl-trunk

Crie a pasta build e entre nela:
$ cd pcl-trunk
$ mkdir build
$ cd build

Execute o cmake-gui:
$ cmake-gui

Confira se o eigen3, libboost, libflann e libvtk5 estão instaladas. Apos terminar execute:
$ make
# make install (como root)

= Instalação do carmen =

Instale e configure a câmera Kinect no linux. Siga as instruções em [[ Configurando o Pioneer 3DX no CARMEN]]

Depois dos passos acima, no diretorio src de carmen:

./configure --nocuda --nojava
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

Caso você queira usar versões mais novas do IPC do que as que acompanham o Carmen, baixe de:
http://www.cs.cmu.edu/afs/cs/project/TCA/www/ipc/index.html

Para instalar uma nova versão do IPC, logue como root e copie o .tar.gz para /usr/local e instale:
cd /usr/local
tar xzvf ipc-3.9.0.tar.gz
cd ipc-3.9.0
make install /* este comando pode gerar mas ainda assim estar tudo OK, ver abaixo (gmake não funciona no ubuntu use make)*/
ln -s ipc-3.9.0 ipc

Para saber se está tudo OK, verifique se a instalação produziu o central e libipc.a:
ls /usr/local/ipc/bin/Linux-2.6/
ls /usr/local/ipc/lib/Linux-2.6/

Finalmente, para configurar Carmen com um IPC novo, use o comando configure:
./configure --nocuda --nojava --ipc=/usr/local/ipc

Para compilar o carmen rode:
make

Instalação para Ubuntu

2013-10-07T13:56:33Z

Michael André Gonçalves:

[[category:Carmen]]
Essa instalação é completa, mais é necessário testar todos os módulos.

Testado na versão 12.04 LTS. A mesma para a DRC.

= Preparação para a instalação do Carmen =

Instale o SVN:

sudo apt-get install subversion

Crie o diretório roboticaprobabilistica/code/ em sua home:
$ mkdir ~/roboticaprobabilistica/
$ mkdir ~/roboticaprobabilistica/code/

Execute um checkout de http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen na pasta ~/roboticaprobabilistica/code/

$ cd ~/roboticaprobabilistica/code/
$ svn co http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen

Instale as bibliotecas abaixo, com os seguintes comandos:

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 \
openjdk-6-jdk \
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 \
libboost-dev libboost-thread-dev libboost-signals-dev \
libespeak-dev

Instale os pacotes da imlib herdados do Fedora, esses pacotes não existem nos repositórios do Ubuntu!! (eles se encontram em carmen/ubuntu_packages):

dpkg -i imlib_1.9.15-20_amd64.deb
dpkg -i imlib-devel_1.9.15-20_amd64.deb

Instale a biblioteca flycapture da PtGrey com os seguintes comandos:
cd $CARMEN_HOME/ubuntu_packages/
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 seguintes links:

ln -s /usr/lib64/libgdk_imlib.so.1.9.15 /usr/lib64/libgdk_imlib.a
ln -s /usr/src/linux-headers-3.2.0-29/ /usr/src/linux

Confira se o link funcionou:
ls /usr/lib64/libgdk_imlib.a

Instale o driver kvaser (Baixe-o [http://www.kvaser.com/en/developer/canlib.html aqui])
mkdir /usr/local/Kvaser
mv linuxcan.tar.gz /usr/local/Kvaser/
cd /usr/local/Kvaser/
tar xvzf linuxcan.tar.gz
cd linuxcan/
make
make install

Instale o OpenCV na versão 2.2 (Baixe-o [http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.2/ aqui])
(obs: ubuntu 12.04 instale o 2.4 com esse tutorial http://www.samontab.com/web/2012/06/installing-opencv-2-4-1-ubuntu-12-04-lts/)

Copie-o e descompacte-o para uma pasta, (OPENCV_HOME de preferência). Para instalar execute os seguintes comandos de dentro da pasta descompactada que você baixou:

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON -D BUILD_EXAMPLES=ON ..
make
make install (como root)

Instale a Bullet Phisycs na Versão 2.78 (http://code.google.com/p/bullet/downloads/detail?name=bullet-2.78-r2387.tgz&can=2&q=)
mkdir /usr/local/bullet
mv bullet-2.78-r2387.tgz /usr/local/bullet/
cd /usr/local/bullet/
tar xzvf bullet-2.78-r2387.tgz
$ ./configure
$ make
# make install (como root)

Instale a PCL (Point Cloud Library):
Instale os seguintes pacotes:
$ sudo apt-get install libeigen3-dev libboost-all-dev libflann-dev libvtk5-dev cmake-gui

Baixe a PCL:
$ git clone https://github.com/PointCloudLibrary/pcl pcl-trunk

Crie a pasta build e entre nela:
$ cd pcl-trunk
$ mkdir build
$ cd build

Execute o cmake-gui:
$ cmake-gui

Confira se o eigen3, libboost, libflann e libvtk5 estão instaladas. Apos terminar execute:
$ make
# make install (como root)

= Instalação do carmen =

Instale e configure a câmera Kinect no linux. Siga as instruções em [[ Configurando o Pioneer 3DX no CARMEN]]

Colocar no arquivo .bashrc do usuario:
#CARMEN
export JAVA_HOME=/usr/lib/jvm/java-1.6.0-openjdk-amd64
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=~/roboticaprobabilistica/code/carmen

Depois dos passos acima, no diretorio src de carmen:

./configure --nocuda --nojava
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

Caso você queira usar versões mais novas do IPC do que as que acompanham o Carmen, baixe de:
http://www.cs.cmu.edu/afs/cs/project/TCA/www/ipc/index.html

Para instalar uma nova versão do IPC, logue como root e copie o .tar.gz para /usr/local e instale:
cd /usr/local
tar xzvf ipc-3.9.0.tar.gz
cd ipc-3.9.0
make install /* este comando pode gerar mas ainda assim estar tudo OK, ver abaixo (gmake não funciona no ubuntu use make)*/
ln -s ipc-3.9.0 ipc

Para saber se está tudo OK, verifique se a instalação produziu o central e libipc.a:
ls /usr/local/ipc/bin/Linux-2.6/
ls /usr/local/ipc/lib/Linux-2.6/

Finalmente, para configurar Carmen com um IPC novo, use o comando configure:
./configure --nocuda --nojava --ipc=/usr/local/ipc

Para compilar o carmen rode:
make

Instalação para Ubuntu

2012-12-03T15:49:23Z

Michael André Gonçalves:

[[category:Carmen]]
Essa instalação é incompleta e não torna funcional todos os módulos do carmen, principalmente os que utilizam recursos relacionado a câmera

Testado na versão 10.10 e 11.04. A versão 11.10 trás grandes mudanças e essa instalação não é mais compatível.

= Preparação para a instalação do Carmen =
Instale as bibliotecas abaixo, com os seguintes comandos:

sudo apt-get install subversion

sudo apt-get install swig
sudo apt-get install libgtk2.0-dev
sudo apt-get install qt-sdk
sudo apt-get install libqt3-mt libqt3-mt-dev qt3-dev-tools
sudo apt-get install libimlib2 libimlib2-dev
sudo apt-get install imagemagick libmagick++-dev
sudo apt-get install libwrap0 libwrap0-dev tcpd
sudo apt-get install openjdk-6-jdk
sudo apt-get install libncurses5 libncurses5-dev
sudo apt-get install libgsl0-dev libgsl0ldbl
sudo apt-get install libdc1394-22 libdc1394-22-dev libdc1394-utils
sudo apt-get install cmake
sudo apt-get install libgtkglext1 libgtkglext1-dev
sudo apt-get install libgtkglextmm-x11-1.2-0 libgtkglextmm-x11-1.2-dev
sudo apt-get install libglade2-0 libglade2-dev
sudo apt-get install freeglut3 freeglut3-dev
sudo apt-get install libcurl3 libcurl3-nss
sudo apt-get install libglew1.5 libglew1.5-dev libglewmx1.5 libglewmx1.5-dev glew-utils1.5
sudo apt-get install libkml0 libkml-dev
sudo apt-get install liburiparser1 liburiparser-dev
sudo apt-get install git
sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev libusb-dev
sudo apt-get install libxi-dev libxi6
sudo apt-get install libxmu-dev libxmu6
sudo apt-get install build-essential libforms-dev
sudo apt-get install byacc
sudo apt-get install flex

Instale os pacotes da imlib herdados do Fedora, esses pacotes não existem nos repositórios do Ubuntu!! (eles se encontram em carmen/ubuntu_packages):

dpkg -i imlib_1.9.15-20_amd64.deb
dpkg -i imlib-devel_1.9.15-20_amd64.deb

Faça os seguintes links:

ln -s /usr/lib/libgdk_imlib.so.1.9.15 /usr/lib/libgdk_imlib.a
ln -s /usr/src/linux-headers-3.2.0-29/ /usr/src/linux

Instale o driver kvaser (Baixe-o [http://www.kvaser.com/en/developer/canlib.html aqui])
mkdir /usr/local/Kvaser
mv linuxcan.tar.gz /usr/local/Kvaser/
cd /usr/local/Kvaser/
tar xvzf linuxcan.tar.gz
cd linuxcan/
make
make install

Instale o OpenCV na versão 2.2 (Baixe-o [http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.2/ aqui])
(obs: ubuntu 12.04 instale o 2.4 com esse tutorial http://www.samontab.com/web/2012/06/installing-opencv-2-4-1-ubuntu-12-04-lts/)

Copie-o e descompacte-o para uma pasta, (OPENCV_HOME de preferência). Para instalar execute os seguintes comandos de dentro da pasta descompactada que você baixou:

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON -D BUILD_EXAMPLES=ON ..
make
make install (como root)

Instale a Bullet Phisycs na Versão 2.78 (http://code.google.com/p/bullet/downloads/detail?name=bullet-2.78-r2387.tgz&can=2&q=)
mkdir /usr/local/bullet
mv bullet-2.78-r2387.tgz /usr/local/bullet/
cd /usr/local/bullet/
tar xzvf bullet-2.78-r2387.tgz
$ ./configure
$ make
# make install (como root)

= Instalação do carmen =

Crie o diretório roboticaprobabilistica/code/ em sua home:
$ mkdir ~/roboticaprobabilistica/
$ mkdir ~/roboticaprobabilistica/code/

Execute um checkout de http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen na pasta ~/roboticaprobabilistica/code/

$ cd ~/roboticaprobabilistica/code/
$ svn co http://www.lcad.inf.ufes.br/svn/roboticaprobabilistica/code/carmen

Instale e configure a câmera Kinect no linux. Siga as instruções em [[ Configurando o Pioneer 3DX no CARMEN]]

Colocar no arquivo .bashrc do usuario:
#CARMEN
export JAVA_HOME=/usr/lib/jvm/java-1.6.0-openjdk-amd64
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=~/roboticaprobabilistica/code/carmen

Depois dos passos acima, no diretorio src de carmen:

./configure --nocuda --nojava
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

Caso você queira usar versões mais novas do IPC do que as que acompanham o Carmen, baixe de:
http://www.cs.cmu.edu/afs/cs/project/TCA/www/ipc/index.html

Para instalar uma nova versão do IPC, logue como root e copie o .tar.gz para /usr/local e instale:
cd /usr/local
tar xzvf ipc-3.9.0.tar.gz
cd ipc-3.9.0
gmake install /* este comando pode gerar mas ainda assim estar tudo OK, ver abaixo */
ln -s ipc-3.9.0 ipc

Para saber se está tudo OK, verifique se a instalação produziu o central e libipc.a:
ls /usr/local/ipc/bin/Linux-2.6/
ls /usr/local/ipc/lib/Linux-2.6/

Finalmente, para configurar Carmen com um IPC novo, use o comando configure:
./configure --nocuda --nojava --ipc=/usr/local/ipc

Para compilar o carmen rode:
make