【Pinocchio】ubuntu18.04安装pinocchio

参考官方教程，过程如下：

1. Ensure you have some required installation dependencies

    sudo apt install -qqy lsb-release curl
   

2. Register the authentication certificate of robotpkg:

    sudo mkdir -p /etc/apt/keyrings
    curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc \
        | sudo tee /etc/apt/keyrings/robotpkg.asc
   

3. Add robotpkg as source repository to apt:

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

4. You need to run at least once apt update to fetch the package descriptions:

    sudo apt update
   

安装 Pinocchio

1. The installation of Pinocchio and its dependencies is made through the line:（此处需要安装python2.7版本）

    sudo apt install -qqy robotpkg-py2*-pinocchio
   

注意：这个过程中可能会出现一些库的冲突，根据提示sudo apt install安装对应的库版本即可。

配置环境变量

把以下内容加入到 $HOME/.bashrc

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

All the packages will be installed in the /opt/openrobots directory.