• 蓝桥ROS扩展笔记CppRobotics编译

    为了方便下载和使用，选用gitcode：

    git clone https://gitcode.net/ZhangRelay/cpp_robotics.git

     

    解压缩：

    unzip cpp_robotics/CppRobotics.zip

    编译常见过程：

    mkdir build

    cmake ..

    make

    一次成功^_^

    选个A*看看效果？

    ＃ 目录
    * [定位](#localization)
        * [扩展卡尔曼滤波器](#extended-kalman-filter-localization)
        * [粒子过滤器](#particle-filter-localization)
        * 直方图过滤器
    * [建图](#mapping)
        * 高斯网格图
    * [SLAM](#SLAM)
        * 快速SLAM 1.0
    * [路径规划](#path-planning)
        * [Dijkstra](#dijkstra)
        * [A*](#a-star)
        * [RRT](#rrt)
        * [动态窗口方法](#dynamic-window-approach)
        * [模型预测轨迹生成器](#model-predictive-trajectory-generator)
        * [三次样条规划器](#cubic-spline-planner)
        * [状态格规划器](#state-lattice-planner)
        * [Frenet 帧轨迹](#frenet-frame-trajectory)
    * [路径跟踪控制](#path-tracking-control)
        * [LQR 转向控制](#lqr-steering-control)
        * [LQR 速度和转向控制](#lqr-speed-and-steering-control)
        * [模型预测速度和转向控制](#mpc-speed-and-steering-control)
    * [空中导航](#aerial-navigation)
         *无人机3D轨迹跟踪
         *火箭动力着陆

    附编译过程：

    shiyanlou:CppRobotics-master/ $ cd build                             [22:54:56]
    shiyanlou:build/ $ cmake ..                                          [22:55:02]
    -- The C compiler identification is GNU 5.4.0
    -- The CXX compiler identification is GNU 5.4.0
    -- Check for working C compiler: /usr/bin/cc
    -- Check for working C compiler: /usr/bin/cc -- works
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Detecting C compile features
    -- Detecting C compile features - done
    -- Check for working CXX compiler: /usr/bin/c++
    -- Check for working CXX compiler: /usr/bin/c++ -- works
    -- Detecting CXX compiler ABI info
    -- Detecting CXX compiler ABI info - done
    -- Detecting CXX compile features
    -- Detecting CXX compile features - done
    -- Found OpenCV: /opt/ros/kinetic (found version "3.3.1") 
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/shiyanlou/CppRobotics-master/build
    shiyanlou:build/ $ make                                              [22:55:09]
    Scanning dependencies of target lqr
    [  3%] Building CXX object CMakeFiles/lqr.dir/src/lqr_steer_control.cpp.o
    [  7%] Linking CXX executable ../bin/lqr
    [  7%] Built target lqr
    Scanning dependencies of target astar
    [ 11%] Building CXX object CMakeFiles/astar.dir/src/a_star.cpp.o
    [ 15%] Linking CXX executable ../bin/astar
    [ 15%] Built target astar
    Scanning dependencies of target ekf
    [ 19%] Building CXX object CMakeFiles/ekf.dir/src/extended_kalman_filter.cpp.o
    [ 23%] Linking CXX executable ../bin/ekf
    [ 23%] Built target ekf
    Scanning dependencies of target mptg
    [ 26%] Building CXX object CMakeFiles/mptg.dir/src/model_predictive_trajectory_generator.cpp.o
    In file included from /home/shiyanlou/CppRobotics-master/src/model_predictive_trajectory_generator.cpp:16:0:
    /home/shiyanlou/CppRobotics-master/./include/trajectory_optimizer.h: In member function \u2018cpprobotics::TrajState cpprobotics::TrajectoryOptimizer::calc_diff(cpprobotics::TrajState)\u2019:
    /home/shiyanlou/CppRobotics-master/./include/motion_model.h:18:81: warning: narrowing conversion of \u2018(fmod((fmod((((double)yaw_) + 3.1415926535897931e+0), 6.2831853071795862e+0) - 6.2831853071795862e+0), 6.2831853071795862e+0) + 3.1415926535897931e+0)\u2019 from \u2018double\u2019 to \u2018float\u2019 inside { } [-Wnarrowing]
     e YAW_P2P(angle) std::fmod(std::fmod((angle)+M_PI, 2*M_PI)-2*M_PI, 2*M_PI)+M_PI
                                                                               ^
    /home/shiyanlou/CppRobotics-master/./include/trajectory_optimizer.h:134:11: note: in expansion of macro \u2018YAW_P2P\u2019
               YAW_P2P(yaw_)};
               ^
    [ 30%] Linking CXX executable ../bin/mptg
    [ 30%] Built target mptg
    Scanning dependencies of target pf
    [ 34%] Building CXX object CMakeFiles/pf.dir/src/particle_filter.cpp.o
    [ 38%] Linking CXX executable ../bin/pf
    [ 38%] Built target pf
    Scanning dependencies of target dijkstra
    [ 42%] Building CXX object CMakeFiles/dijkstra.dir/src/dijkstra.cpp.o
    [ 46%] Linking CXX executable ../bin/dijkstra
    [ 46%] Built target dijkstra
    Scanning dependencies of target rrt
    [ 50%] Building CXX object CMakeFiles/rrt.dir/src/rrt.cpp.o
    [ 53%] Linking CXX executable ../bin/rrt
    [ 53%] Built target rrt
    Scanning dependencies of target rrtstar
    [ 57%] Building CXX object CMakeFiles/rrtstar.dir/src/rrt_star.cpp.o
    [ 61%] Linking CXX executable ../bin/rrtstar
    [ 61%] Built target rrtstar
    Scanning dependencies of target frenet
    [ 65%] Building CXX object CMakeFiles/frenet.dir/src/frenet_optimal_trajectory.cpp.o
    [ 69%] Linking CXX executable ../bin/frenet
    [ 69%] Built target frenet
    Scanning dependencies of target dwa
    [ 73%] Building CXX object CMakeFiles/dwa.dir/src/dynamic_window_approach.cpp.o
    [ 76%] Linking CXX executable ../bin/dwa
    [ 76%] Built target dwa
    Scanning dependencies of target lqr_full
    [ 80%] Building CXX object CMakeFiles/lqr_full.dir/src/lqr_speed_steer_control.cpp.o
    [ 84%] Linking CXX executable ../bin/lqr_full
    [ 84%] Built target lqr_full
    Scanning dependencies of target slp
    [ 88%] Building CXX object CMakeFiles/slp.dir/src/state_lattice_planner.cpp.o
    In file included from /home/shiyanlou/CppRobotics-master/src/state_lattice_planner.cpp:19:0:
    /home/shiyanlou/CppRobotics-master/./include/trajectory_optimizer.h: In member function \u2018cpprobotics::TrajState cpprobotics::TrajectoryOptimizer::calc_diff(cpprobotics::TrajState)\u2019:
    /home/shiyanlou/CppRobotics-master/./include/motion_model.h:18:81: warning: narrowing conversion of \u2018(fmod((fmod((((double)yaw_) + 3.1415926535897931e+0), 6.2831853071795862e+0) - 6.2831853071795862e+0), 6.2831853071795862e+0) + 3.1415926535897931e+0)\u2019 from \u2018double\u2019 to \u2018float\u2019 inside { } [-Wnarrowing]
     e YAW_P2P(angle) std::fmod(std::fmod((angle)+M_PI, 2*M_PI)-2*M_PI, 2*M_PI)+M_PI
                                                                               ^
    /home/shiyanlou/CppRobotics-master/./include/trajectory_optimizer.h:134:11: note: in expansion of macro \u2018YAW_P2P\u2019
               YAW_P2P(yaw_)};
               ^
    [ 92%] Linking CXX executable ../bin/slp
    [ 92%] Built target slp
    Scanning dependencies of target csp
    [ 96%] Building CXX object CMakeFiles/csp.dir/src/cubic_spline_planner.cpp.o
    [100%] Linking CXX executable ../bin/csp
    [100%] Built target csp
    shiyanlou:build/ $             

    1. cmake_minimum_required(VERSION 3.1)
    2. project(CPP_ROBOTICS)
    3.  
    4. set(CMAKE_CXX_STANDARD 11)
    5. # set(CMAKE_BUILD_TYPE Debug)
    6. set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
    7. set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
    8.  
    9. #############################
    10. #Dependencies
    11. #############################
    12.  
    13. find_package(Eigen3 REQUIRED)
    14. find_package(OpenCV REQUIRED)
    15.  
    16. include_directories(${EIGEN3_INCLUDE_DIR})
    17. include_directories(./include)
    18.  
    19. #include_directories(/home/tai/Software/Ipopt-3.12.13/build/include)
    20. #link_directories(/home/tai/Software/Ipopt-3.12.13/build/lib)
    21.  
    22.  
    23.  
    24. ##############################
    25. #Localization
    26. ##############################
    27.  
    28. add_executable(ekf src/extended_kalman_filter.cpp)
    29. target_link_libraries(ekf ${OpenCV_LIBS} )
    30.  
    31. add_executable(pf src/particle_filter.cpp)
    32. target_link_libraries(pf ${OpenCV_LIBS} )
    33.  
    34. ##############################
    35. #PathPlanning
    36. ##############################
    37.  
    38. add_executable(dijkstra src/dijkstra.cpp)
    39. target_link_libraries(dijkstra ${OpenCV_LIBS} )
    40.  
    41. add_executable(astar src/a_star.cpp)
    42. target_link_libraries(astar ${OpenCV_LIBS} )
    43.  
    44. add_executable(rrt src/rrt.cpp)
    45. target_link_libraries(rrt ${OpenCV_LIBS} )
    46.  
    47. add_executable(rrtstar src/rrt_star.cpp)
    48. target_link_libraries(rrtstar ${OpenCV_LIBS} )
    49.  
    50. add_executable(dwa src/dynamic_window_approach.cpp)
    51. target_link_libraries(dwa ${OpenCV_LIBS} )
    52.  
    53. add_executable(mptg src/model_predictive_trajectory_generator.cpp)
    54. target_link_libraries(mptg ${OpenCV_LIBS})
    55.  
    56. add_executable(slp src/state_lattice_planner.cpp)
    57. target_link_libraries(slp ${OpenCV_LIBS})
    58.  
    59. add_executable(csp src/cubic_spline_planner.cpp)
    60. target_link_libraries(csp ${OpenCV_LIBS})
    61.  
    62. add_executable(frenet src/frenet_optimal_trajectory.cpp)
    63. target_link_libraries(frenet ${OpenCV_LIBS})
    64.  
    65.  
    66. ##############################
    67. #PathTracking
    68. ##############################
    69.  
    70. add_executable(lqr src/lqr_steer_control.cpp)
    71. target_link_libraries(lqr ${OpenCV_LIBS})
    72.  
    73. add_executable(lqr_full src/lqr_speed_steer_control.cpp)
    74. target_link_libraries(lqr_full ${OpenCV_LIBS})
    75.  
    76. #add_executable(mpc src/model_predictive_control.cpp)
    77. #target_link_libraries(mpc ${OpenCV_LIBS} ipopt)

     

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  • 原文地址：https://blog.csdn.net/ZhangRelay/article/details/126065411