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Installing Carmen on Ubuntu 22.04

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Breno-de-Angelo edited this page Feb 27, 2024 · 2 revisions

Atualizar o apt: ↑ 

sudo apt-get update

Instalar o git: ↑ 

sudo apt-get install git

Baixar o Carmen pelo git (faça o download enquanto segue os próximos passos) (Para evitar conflitos com o sistema, efetue o cd ~ antes de dar o git clone, NÃO modifique o local das pastas): ↑ 

cd ~
git clone https://github.com/LCAD-UFES/carmen_lcad

Alternativamente pode-se usar o gh: ↑ 

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key C99B11DEB97541F0
sudo apt-add-repository https://cli.github.com/packages
sudo apt update
sudo apt install gh
gh repo clone LCAD-UFES/carmen_lcad

OBS: Se você pegar o Carmen do pendrive, faça “git pull” antes de iniciar as instalações.

Instalar as bibliotecas/pacotes abaixo: ↑ 

sudo apt-get install make \
libgtk2.0-dev swig \
doxygen imagemagick \
libmagick++-dev libwrap0-dev \
freeglut3-dev qtbase5-dev \
libgtkglext1-dev libfann-dev \
libboost-all-dev \
libbullet-extras-dev \
libbullet-dev libgsl-dev \
libglew-dev libopencv-dev \
libcurlpp-dev

Preparação para instalação do CARMEN ↑

Edite o .bashrc (gedit ~/.bashrc) e coloque no final

#CARMEN
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export CARMEN_HOME=~/carmen_lcad
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib:/usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu/:/usr/lib/libkml:$CARMEN_HOME/lib
export PATH=$PATH:$CARMEN_HOME/bin

#OpenJaus
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$CARMEN_HOME/sharedlib/OpenJAUS/libopenJaus/lib:$CARMEN_HOME/sharedlib/OpenJAUS/libjaus/lib:$CARMEN_HOME/sharedlib/OpenJAUS/ojTorc/lib:$CARMEN_HOME/sharedlib/OpenJAUS/ojIARASim/lib

#OpenCV
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/lib/x86_64-linux-gnu/pkgconfig

Instalar o CARMEN ↑ 

cd $CARMEN_HOME/src
./configure --nojava  --nozlib --nocuda
Should the C++ tools be installed for CARMEN: [Y/n] Y
Should Python Bindings be installed: [y/N] N
Searching for Python2.4... Should the old laser server be used instead of the new one: [y/N] N
enter nessa linha -> Install path [/usr/local/]: 
Robot numbers [*]: 1,2
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