今天编译了一个四足机器人 Cheetah-Software-leb

主要是几个必备的环境安装

在这里插入代码片
sudo apt install mesa-common-dev freeglut3-dev coinor-libipopt-dev libblas-dev liblapack-dev gfortran liblapack-dev coinor-libipopt-dev cmake gcc build-essential libglib2.0-dev
-----qt5
sudo apt install libqt5gamepad5-dev 

----lcm 
# 安装依赖
# 必选
sudo apt install build-essential libglib2.0-dev cmake
# 可选，可根据使用的语言选择安装
sudo apt install default-jdk python-all-dev liblua5.1-dev golang doxygen

-----gmock
apt-get install libgtest-dev libgmock-dev googletest
# 拷贝源码
git clone https://github.com/lcm-proj/lcm.git
cd lcm
# 编译并安装
mkdir build && cd build
cmake ..
make -j4
sudo make install



---eigen3

sudo apt install libeigen3-dev
sudo -i #切换到root user
cp -R /usr/include/eigen3  /usr/local/include

-----正经编译


git clone https://github.com/mit-biomimetics/Cheetah-Software.git

或者
https://gitee.com/lebment/cheetah-software-leb.git

cd Cheetah-Software
cd scripts
./make_types.sh # 这个阶段会有警告，甚至错误提示，但是不影响后面的编译
cd ..
mkdir build
cd build
cmake ..
./../scripts/make_types.sh

#注意！默认开启了-Werror，此时任何警告(比如strncpy)都会导致编译失败，因此在调用make之前，
#设置环境变量告诉编译器警告不作为错误来处理
env CFLAGS="Wno-error" CXXFLAGS="Wno-error" make -j8 VERBOSE=1 


然后是正常编译
运行./sim/sim

看着也是一番折腾

   4. 报错关于cc1:all warnings being treated as errors

找到报错文件相关文件，搜索-Werror 将其删掉。grep -rl “-Werror”

五. 运行错误

    找不到Default User Parameter File

common文件夹下utilities.cpp，

std::string getConfigDirectoryPath() {return “../../config/”;}

    2. 点击start启动后没有出现模拟窗口

sim/include文件夹下DrawList.h，299行：

std::string _baseFileName = “../../resources/”;

参考

https://zhuanlan.zhihu.com/p/240617051

https://blog.csdn.net/weixin_45467056/article/details/123569027


https://blog.csdn.net/qq_21381473/article/details/123187632