unitree

Unitree

ubuntu18.04
首先要安装好ubuntu 18.04系统,然后开始安装显卡驱动和cuda以及cudnn,这里要注意版本对应,我是3090的显卡,安装的显卡版本是520,然后cuda的版本是11.7,cudnn的版本是8.5.0(要对应cuda版本)。具体流程可以按照1里面的走,最后记得在环境中写一下

#写入环境
sudo gedit ~/.bashrc
export PATH=/usr/local/cuda-11.7/bin${PATH:+:${PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-11.7/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
source ~/.bashrc

接着是安装ROS,国外的可以直接按照ROS wiki的来,参考2没问题,后面主要导入环境

sudo gedit ~/.bashrc

source /opt/ros/melodic/setup.bash 
source /usr/share/gazebo-9/setup.sh

接下来就安装unitree的两个sdk,一搬安装在/home目录下,首先要安装一些依赖(lcm和boost,cmake一搬都有),安装好了依赖之后分别安装3和4,这两个版本非常重要,安装好依赖之后可以直接复制下面的,在home目录下

git clone https://github.com/unitreerobotics/unitree_legged_sdk -b v3.3.4
cd unitree_legged_sdk
mkdir build
cd build
cmake ..
make
sudo make install

cd ~
git clone https://github.com/unitreerobotics/aliengo_sdk
cd aliengo_sdk
mkdir build 
cd build 
cmake ..
make
sudo make install
# 写入环境
sudo gedit ~/.bashrc

export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
export ALIENGO_SDK_PATH=~/aliengo_sdk
#amd64, arm32, arm64
export UNITREE_PLATFORM="amd64"
export UNITREE_SDK_VERSION=3_2

至此,unitree的两个就安装好了,接着装MIT的cheetah software,如果遇到报错,参考这个,肯定可以解决(安装依赖和QT,然后写入bashrc环境)

cd ~
git clone https://github.com/GTLIDAR/Cheetah-Software -b ltl_supported
cd Cheetah_Software
mkdir build
cd build
cmake ..
./../scripts/make_types.sh
make -j4

# 可以用 common/test_common测试,如果没问题写入环境
sudo gedit ~/.bashrc

export CHEETAH_SOFTWARE_PATH=~/Cheetah-Software

  1. NVidia drive + cuda + cudnn install
  2. Install ROS Melodic
  3. Unitree_sdk
  4. aliengo_sdk
  5. Cheetah_software
  6. sudo gedit ~/.bashrc

接下来前提条件就差不多了,安装核心的github仓库,可以按照下面的命令,具体可以参考7.


source ~/catkin_ws/devel/setup.bash
  1. LTL_dog
mkdir -p ~/catkin_ws/src
cd catkin_ws/src
git clone --recursive https://github.com/GTLIDAR/ltl_multi_agent.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin build
source devel/setup.bash

后面安装一些ROS的依赖

sudo apt-get install ros-melodic-driver-base
sudo apt-get install ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-effort-controllers
sudo apt-get install ros-melodic-joint-state-controller
sudo apt-get install ros-melodic-global-planner
sudo apt-get install ros-melodic-teb-local-planner
sudo apt-get install ros-melodic-ackermann-msgs

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