【安装备忘】pinocchio pybind11 crocoddyl bullet_utils robot_properties_solo

pinocchino

参考链接
安装robotpkg

 sudo apt install -qqy lsb-release gnupg2 curl

 echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list

 curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -

 sudo apt-get update

从robotpkg安装，注意更改python版本：

 sudo apt install -qqy robotpkg-py36-pinocchio  # Adapt your desired python version here

在.bashrc中添加以下，注意更改python版本:

export PATH=/opt/openrobots/bin:$PATH
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/openrobots/lib/python2.7/site-packages:$PYTHONPATH # Adapt your desired python version here
export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH

crocoddly

参考链接
在安装了robotpkg后：
注意python版本

sudo apt install robotpkg-py36-crocoddyl 

pybind11

参考链接
可以在项目里安装也可以全局安装

1. 项目里安装：

git submodule add -b stable ../../pybind/pybind11 extern/pybind11
git submodule update --init

下载别人的项目后：

git submodule init
git submodule update

或者

git submodule update --init --recursive

2. 全局安装
   链接

git clone https://github.com/pybind/pybind11.git

cd  pybind11
mkdir build
cd build
cmake ..
make check -j 4  #(make and check, not necessary)
sudo make install  #(maybe should disable python3 in /usr/bin/ if you use python2)

bullet_utils

项目链接

robot_properties

项目链接

其他biconvex_mpc编译问题：

CMAKE Could NOT find PythonLibs (missing: PYTHON_INCLUDE_DIRS)
解决方法链接