安装 FLSpegtransferHO(一)

FLSpegtransfer这个也是自动化的尝试,它看起来也是要参加CRTK比赛的,尝试用deep RNN训练,使用达文西机器手臂,将一个物品移到另一个地方.

我刚开始是建立FLSpegtransfer子目录下,结果装到后面才发觉他是建立在~/pycharmprojects下,而且要自己更动一下

mkdir pycharmprojects && cd pycharmprojectsgit clone https://github.com/BerkeleyAutomation/FLSpegtransferHO.gitmv FLSpegtransferHO FLSpegtransfer #否则Import会一直出错

然后把3个原本在~/pycharmprojects/FLSPegTransfer下的FLSPegTransfer_single.py, FLSPegTransfer_dual.py, FLSPegTransfer_handover.py档案copy到~/pycharmprojects下

然后照它步骤做,但它还是有些错误

cd ~/pycharmprojects/FLSpegtransfersudo apt install build-essentialsource /opt/ros/noetic/setup.bash

virtualenv venv. venv/bin/activatepip install probreg #==0.3.1是错的,没这个版本pip install mayavipip install cvxoptpip install opencv-pythonpip install osqp

而且要再加装一些东西

pip install opencv-contrib-pythonpip install --upgrade setuptoolspip install --upgrade y-py==0.6.0pip install jupyter-ydocpip install rospkgpip install torchvision #XD,virtualenv连torch跟qt都没有pip install traitsui

加装pyqt4

sudo add-apt-repository ppa:rock-core/qt4sudo apt-get updatecd ~/Downloadswget http://archive.ubuntu.com/ubuntu/pool/universe/q/qt-assistant-compat/libqtassistantclient4_4.6.3-7build1_amd64.debsudo apt-get install ./libqtassistantclient4_4.6.3-7build1_amd64.debwget http://archive.ubuntu.com/ubuntu/pool/universe/p/python-qt4/python-qt4_4.12.1+dfsg-2_amd64.debsudo apt-get install ./python-qt4_4.12.1+dfsg-2_amd64.debwget http://archive.ubuntu.com/ubuntu/pool/universe/p/python-pyaudio/python-pyaudio_0.2.11-1build2_amd64.debsudo apt-get install ./python-pyaudio_0.2.11-1build2_amd64.deb# sudo apt-get install libcanberra-gtk-module

还要加装Zivid

cd ~/pycharmprojectsapt install python3-dev ＃如果还没装＃＃Zivid-SDK跟zivid安装mkdir Zividcd Zividwget \https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-telicam-driver_3.0.1.1-3_amd64.deb \https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid_2.9.0+4dbba385-1_amd64.deb \https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-studio_2.9.0+4dbba385-1_amd64.deb \https://downloads.zivid.com/sdk/releases/2.9.0+4dbba385-1/u20/zivid-tools_2.9.0+4dbba385-1_amd64.debsudo apt install ./*.debpip install zivid

确认C++ 17 compiler

之后启动

roscore 

再开一个terminal,可以执行

. venv/bin/activatecd ~/pycharmprojectspython3 FLSPegTransfer_single.py

但因为没有硬体...

上次装不起来时问原作者,他不理我,等到我问他老闆,才终于可以装.但没画面没真相,等我如果有问到,再跟各位报告.