MIT Mini Cheetah仿真 错误处理

一. 编译步骤

git clone https://github.com/mit-biomimetics/Cheetah-Software.git
cd Cheetah-Software
mkdir build
cd build
cmake ..
./../scripts/make_types.sh
make -j4

二.clone googletest 速度慢或是报错

报错信息：

CMake Error at googletest-download/googletest-download-prefix/tmp/googletest-download-gitclone.cmake:40 (message):

处理：直接注释掉common/CMakeLists.txt 里的googletest第20行--39行,仿真和实际使用不影响。

三.系统Ubuntu20.04 报错：string_fortified.h:106:34: error: ‘char* __builtin_strncpy

报错：

/usr/include/x86_64-linux-gnu/bits/string_fortified.h:106:34: error: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ specified bound 2056 equals destination size [-Werror=stringop-truncation]
106 | return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));
| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

解决：warning当作error了，我们讲主目录的CMakeLists.txt里的2个“-Werror”删除掉。

修改前：

修改后：

四.提示缺少stropts.h文件：fatal error: stropts.h: No such file or directory

报错：

rt_serial.cpp:28:10: fatal error: stropts.h: No such file or directory
28 | #include <stropts.h>

解决：在/usr/include/下新建文件touch stropts.h 复制写入如下内容

#if HAVE_STROPTS_H
#include <stropts.h>
#endif

五.error: ‘ioctl’ was not declared in this scope

错误：eerror: ‘ioctl’ was not declared in this scope

解决：修改robot/src/rt/rt_serial.cpp

修改前:

修改后：

六.编译通过，启动仿真