看完trajopt的文章,比较经典,想跑跑看其开源代码
trajopt
is a software framework for generating robot trajectories by local optimization
调试Motion Planning Benchmarks
OpenRAVE有可能要装0.9 现在是0.8
安装OpenRAVE
Open Robotics Automation Virtual Environment
OpenRAVE 提供测试环境,开发和部署在现实世界中的机器人应用运动规划算法。主要的重点是运动规划运动学和几何信息的模拟和分析。 OpenRAVE的独立性质允许,可以很容易地集成到现有的机器人系统。
安装Openrave时出错
Errors were encountered while processing:
/var/cache/apt/archives/libbullet2.80_2.80.2-ubuntu1~precise1_amd64.deb
/var/cache/apt/archives/libbullet2.80_2.80.2-ubuntu1~precise1_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)
查软件版本 openrave --version
检查 输入python 打开Python交互环境
import openravepy
print openravepy.__version__
sudo apt-get install python-nltk
-
Various Python packages: NumPy, YAML, JSON
sudo apt-get install python-scipy
记得安装!!!
查询软件是否成功安装
dpkg
-
s python-numpy
安装
JSON sudo
apt-get install libjson0-dev libjson0
出错:
E:Could not open lock file /var/lib/dpkg/lock - open (13:Permission denied)
E:Unable to lock the administration directory (/var/lib/dpkg/),are you root?
解决方案:
sudo rm -rf /var/lib/dpkg/lock
sudo rm -rf /var/cache/apt/archives/lock
sudo apt-get update
最后运行:sudo dpkg --configure -a 重新配置(系统会提醒) 。
其实错误是因为没有加sudo!!!
GUROBI
一个优化工具
下载gurobi6.0.5
放到/opt
tar xvfz gurobi6.0.0_linux64.tar.gz
修改环境变量
export GUROBI_HOME="/opt/gurobi605/linux64"
export PATH="${PATH}:${GUROBI_HOME}/bin"
export PATH="${PATH}:${GUROBI_HOME}/bin"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${GUROBI_HOME}/lib"
grbgetkey b3a3ad84-f700-c014-85d1-565bf82e2231
修改环境变量
export GRB_LICENSE_FILE=/home/cwx/gurobi.lic
测试
gurobi.sh
使用502版本会出错
-----------------------------------------------
Contacting academic domain validation server...
-----------------------------------------------
Contacting academic domain validation server...
-----------------------------------------------
Unable to contact key server 'apps.gurobi.com'
gedit ~/.bashrc改环境变量
安装 环境变量出问题
如果你想查看某一个名称的环境变量,命令是:
echo $环境变量名
每次修改.bashrc后,使用source ~/.bashrc 是修改立即生效
Gurobi found
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GUROBI_LIBRARY (ADVANCED)
linked by target "sco" in directory /home/cwx/build_trajopt/trajopt-master/src/sco
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GUROBI_LIBRARY (ADVANCED)
linked by target "sco" in directory /home/cwx/build_trajopt/trajopt-master/src/sco
-- Configuring incomplete, errors occurred!
改用gurobi6.0.5就解决
cmake
make -j
-j 可以指定用几个进程同时编译,建议小于或等于你的cpu个数。
一般 make -j 2
设置PYTHONPATH路径
export PYTHONPATH="${PYTHONPATH}:/home/cwx/trajopt-master:/home/cwx/trajopt-master/build/lib"
make -j遇到错误
[ 80%] Building CXX object ext/gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/kinematic_terms.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/utils.cpp.o] Error 4
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/rave_utils.cpp.o] Error 4
Linking CXX static library ../../lib/libgtest_main.a
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/collision_terms.cpp.o] Error 4
virtual memory exhausted: Cannot allocate memory
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/bullet_collision_checker.cpp.o] Error 1
[ 80%] Built target gtest_main
Scanning dependencies of target sco-unit
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/plot_callback.cpp.o] Error 4
[ 88%] [ 88%] [ 85%] Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/unit.cpp.o
Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/small-problems-unit.cpp.o
Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/solver-interface-unit.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/traj_plotter.cpp.o] Error 4
Linking CXX executable ../../../bin/sco-unit
[ 88%] Built target sco-unit
make[1]: *** [src/trajopt/CMakeFiles/trajopt.dir/all] Error 2
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/kinematic_terms.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/utils.cpp.o] Error 4
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/rave_utils.cpp.o] Error 4
Linking CXX static library ../../lib/libgtest_main.a
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/collision_terms.cpp.o] Error 4
virtual memory exhausted: Cannot allocate memory
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/bullet_collision_checker.cpp.o] Error 1
[ 80%] Built target gtest_main
Scanning dependencies of target sco-unit
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/plot_callback.cpp.o] Error 4
[ 88%] [ 88%] [ 85%] Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/unit.cpp.o
Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/small-problems-unit.cpp.o
Building CXX object src/sco/test/CMakeFiles/sco-unit.dir/solver-interface-unit.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-4.6/README.Bugs> for instructions.
make[2]: *** [src/trajopt/CMakeFiles/trajopt.dir/traj_plotter.cpp.o] Error 4
Linking CXX executable ../../../bin/sco-unit
[ 88%] Built target sco-unit
make[1]: *** [src/trajopt/CMakeFiles/trajopt.dir/all] Error 2
make: *** [all] Error 2
make -j 过程中死机 主机也比较卡 占资源
解决:开大内存和处理器核数
ctest错误
找文件
find /usr -name "*libopenrave*.so"
man find 找find命令的说明文档
修改
LD_LIBRARY_PATH=/usr/local/lib
运行python文件 python 文件路径
终端运行终止 ctrl+c