141 lines
4.6 KiB
Markdown
141 lines
4.6 KiB
Markdown
# 编译运行环境配置
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## 配置硬件环境
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### 硬件连接
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*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*
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### 硬件驱动配置
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*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*
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```bash
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echo "load cdc acm"
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insmod $LYNKOPATH/cdc-acm.ko
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echo "loading cdc_ether driver"
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insmod $LYNKOPATH/cdc_ether.ko
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echo "loading rndis_host driver "
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insmod $LYNKOPATH/rndis_host.ko
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```
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### osdk 硬件运行环境配置
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```bash
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echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"" >> /etc/udev/rules.d/DJIDevice.rules # 添加dji usb 设备节点
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sudo usermod -a -G dialout $USER # 添加uart 读取权限
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```
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## 配置软件环境
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*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*
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### 换国内镜像源
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将/etc/apt/sources.list 的内容替换为以下内容
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```bash
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# 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
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deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
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# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
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deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
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# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
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deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
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# deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
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# deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
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# # deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
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deb http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
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# deb-src http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
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# 预发布软件源，不建议启用
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# deb https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
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# # deb-src https://mirrors.bfsu.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
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```
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替换完成之后执行
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```bash
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sudo apt update
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```
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### 安装ros 环境
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```bash
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sudo apt install gnupg1
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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
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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sudo apt update
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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
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc # 配置ros 环境变量
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source ~/.bashrc
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```
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### apt 安装依赖库
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```bash
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sudo apt install libavformat-dev libavcodec-dev
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sudo apt install libopencv-dev libopencv-contrib-dev
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sudo apt install libsdl2-dev libusb-1.0-0-dev
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sudo apt install build-essential
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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
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sudo apt install libeigen3-dev
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sudo apt install git
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```
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### 编译安装相关依赖库
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#### osdk
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```bash
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git clone https://github.com/dji-sdk/Onboard-SDK.git
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cd Onboard-SDK
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mkdir build && cd build
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cmake ..
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make -j4 && sudo make install
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```
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#### websocketpp
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```bash
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git clone https://github.com/zaphoyd/websocketpp.git
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cd websocketpp
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mkdir build && cd build
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cmake ..
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make -j && sudo make install
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```
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### 编译yolov5 plugin
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*编译产物在yolov5_plugin/obj/ 路径下*
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```bash
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cd yolov5_plugin/build
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cmake ..
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make -j
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```
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## 编译运行 osdk_ros
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### 编译 osdk_ros
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```bash
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cd osdk_ros
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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
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```
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### 运行项目
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*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*
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```bash
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source devel/setup.sh
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roslaunch ah_osdk_ros mission.launch
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``` |