# 编译运行环境配置

## 配置硬件环境

### 硬件连接

*使用转接线typeC接口连接无人机OSDK接口，uart接口接入下图 Uart-TTL0，USB接口插入两个叠起来的USB口中的下面那一个*
![image-20210629094214655](img/uart_port.png)

  

### 硬件驱动配置

*将drivers路径下cdc-acm.ko、cdc_ether.ko、rndis_host.ko 三个驱动文件放入 /lib/modules路径下，并将以下内容写入到/etc/init.d/load_driver.sh文件末尾*

```bash
echo "load cdc acm"
insmod $LYNKOPATH/cdc-acm.ko

echo "loading cdc_ether driver"
insmod $LYNKOPATH/cdc_ether.ko

echo "loading rndis_host driver "
insmod $LYNKOPATH/rndis_host.ko
```
### osdk 硬件运行环境配置

```bash

echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"" >> /etc/udev/rules.d/DJIDevice.rules # 添加dji usb 设备节点

sudo usermod -a -G dialout $USER  # 添加uart 读取权限

```
## 配置软件环境

*由于ros无法使用sudo 权限启动程序，但是AI推理需要使用sudo 权限，所以下面操作都是使用root 用户执行*
### 换国内镜像源
将/etc/apt/sources.list 的内容替换为以下内容

```bash
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse

# deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
# # deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

deb http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
# # deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
```
替换完成之后执行
```bash
sudo apt update
```
### 安装ros 环境

```bash

sudo apt install gnupg1  

sudo echo "deb https://mirrors.bfsu.edu.cn/ros/ubuntu/ focal main" >> /etc/apt/sources.list.d/ros-latest.list # 添加ros 源地址

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt install ros-noetic-ros-base  ros-noetic-nmea-msgs ros-noetic-sensor-msgs ros-noetic-nav-msgs ros-noetic-tf  # 安装ros 相关库

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc  # 配置ros 环境变量

source ~/.bashrc

```
### apt 安装依赖库

```bash

sudo apt install libavformat-dev libavcodec-dev    

sudo apt install libopencv-dev libopencv-contrib-dev                                    

sudo apt install libsdl2-dev libusb-1.0-0-dev

sudo apt install build-essential

sudo apt install libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-rtp gstreamer1.0-plugins-ugly    

sudo apt install libeigen3-dev  

sudo apt install git

```
### 编译安装相关依赖库
#### osdk
```bash
git clone https://github.com/dji-sdk/Onboard-SDK.git
cd Onboard-SDK
mkdir build && cd build
cmake ..
make -j4 && sudo make install
```
#### websocketpp
```bash
git clone https://github.com/zaphoyd/websocketpp.git
cd websocketpp
mkdir build && cd build
cmake ..
make -j && sudo make install
```
### 编译yolov5 plugin
*编译产物在yolov5_plugin/obj/ 路径下*

```bash
cd yolov5_plugin/build
cmake ..
make -j
```
## 编译运行 osdk_ros
### 编译 osdk_ros

```bash
cd osdk_ros
catkin_make -j4  # 如果使用更多核心编译会导致编译过程中内存不足
```
### 运行项目

*运行之前要先打开osdk_ros/src/ah_osdk_ros/launch/mission.launch文件，检查pluginPath和modelPath的value是否正确，pluginPath是前面编译的yolov5 plugin产物的路径。  modelPath是算法模型的路径，在modules路径下有一个电力设备目标识别的模型yolov5s-6.1-device一个yolov5s基础模型yolov5s.6.1_110_abc*

```bash
source devel/setup.sh
roslaunch ah_osdk_ros mission.launch
```