日期:2024年8月20日
0 虚拟环境requirement
asyncio.run()函数要求python3.7以上。
folium-0.14.0 (conda install)
pandas-2.2.2 (conda install)
pillow-10.4.0 (对应PIL库) (conda install)
matplotlib-3.8.4 (会同时安装pyqt-5.15.10 pyqt5-sip-12.13.0 sip-6.7.12) (conda install)
pyqtwebengine-5.15.9 (conda install -c conda-forge pyqtwebengine )
psutil-5.9.0 (conda install)
openpyxl-3.1.5 (conda install)
pulp-2.9.0 (pip3 install)
networkx-3.2.1 (conda install)
tabulate-0.9.0 (conda install)
shapely-2.0.5 (conda install)
scipy-1.13.1 (conda install)
geopy-2.4.1 (conda install)
cv2-4.10.0 (pip install opencv-python + 附加功能包 pip install opencv-contrib-python -i https://pypi.tuna.tsinghua.edu.cn/simple)
sudo apt install build-essential zlib1g-dev
sudo apt install libgflags-dev libgoogle-glog-dev
apt install python3-pybind11
pip3 install numpy matplotlib scipy
1 下载OR-TOOLS
https://github.com/google/or-tools/releases下载8.2版本or-tools_ubuntu-20.04_v8.2.8710.tar.gz
解压到电脑目录/home/luyan/document。
2 编译路径规划模块
复制文件夹后编译部分需重做!
cd /home/luyan/Intergrated-Multi-Agent-Mission-Planning/externals/Lazy-Theta-with-optimization-any-angle-pathfinding
mkdir build
cd build
cmake ..
make
3 利用OR-TOOLS编译任务规划模块
复制文件夹后编译部分需重做!
cd /home/luyan/Intergrated-Multi-Agent-Mission-Planning
mkdir build
cd build
cmake -DORTOOLS_ROOT=/home/luyan/document/or-tools_Ubuntu-20.04-64bit_v8.2.8710 ..
make
4 运行(在命令行中)
报错:ImportError: /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../libstdc++.so.6: version `GLIBCXX_3.4.29' not found (required by /home/luyan/Real-time-Parallel-Multi-Robot-Mission-Planning-in-Cluttered-Environment/build/DrMaMP.cpython-39-x86_64-linux-gnu.so)
解决:如何解决version `GLIBCXX_3.4.29‘ not found的问题_version `glibcxx_3.4.29' not found-CSDN博客
(1)找到目录下现有的版本,确认`GLIBCXX_3.4.29'不在其列
strings /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../libstdc++.so.6 | grep GLIBCXX
(2)找到当前系统中其它的同类型文件,此处选择版本较高的某地址下的libstdc++.so.6.0.30:
sudo find / -name "libstdc++.so.6*"
(3)检查该地址下的libstdc++.so.6.0.30是否包含需要的版本`GLIBCXX_3.4.29':
strings /usr/lib32/libstdc++.so.6.0.30 | grep GLIBCXX
(4)复制、替换并建立新的链接
sudo cp /usr/lib32/libstdc++.so.6.0.30 /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../
sudo rm /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../libstdc++.so.6
sudo ln -s /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../libstdc++.so.6.0.30 /home/luyan/anaconda3/lib/python3.9/site-packages/matplotlib/../../../libstdc++.so.6
7 GraphHopper安装(Linux)
(1)Github下载
下载的stable版本(未尝试master分支是否可行):
修改config-example.yml中的bind_host: localhost为127.0.0.1。
-----------------------------------------------------------------------------------
# Dropwizard server configuration
1 server:
2 application_connectors:
3 - type: http
4 port: 8989
5 # for security reasons bind to localhost
6 bind_host: 127.0.0.1
7 request_log:
8 appenders: []
9 admin_connectors:
10 - type: http
11 port: 8990
12 bind_host: 127.0.0.1
-----------------------------------------------------------------------------------
(2) jar包下载
Releases · graphhopper/graphhopper · GitHub
(3)安装Java
sudo apt install openjdk-17-jdk
输入 java -version 显示 openjdk version "17.0.12"
输入 sudo vim /etc/environment 进入 vim 添加一行
JAVA_HOME=/usr/lib/jvm/java-17-openjdk-amd64/
(4)根目录graphhopper-stable进入命令行
java -Ddw.graphhopper.datareader.file=beijing-latest.osm.pbf -jar graphhopper-web-6.2.jar server config.yml