安装Unitree_sdk2

 

 

 

 

unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ 
unitree@ubuntu:~$ cd /unitree/lib/unitree_slam
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ sudo ./install.sh
[sudo] password for unitree: 
Please select the type of robot:  GO2(1)  or  B2(2) ? 1
WrokDir=/unitree/lib/unitree_slam
CPU Arch=aarch64
success
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ 
unitree@ubuntu:/unitree/lib/unitree_slam$ cd build
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ ls
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ cmake ..
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- 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
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Configuring done
-- Generating done
-- Build files have been written to: /unitree/lib/unitree_slam/build
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ make
-- Configuring done
-- Generating done
-- Build files have been written to: /unitree/lib/unitree_slam/build
Scanning dependencies of target demo_b2
[  2%] Building CXX object CMakeFiles/demo_b2.dir/unitree_slam_example/demo_b2.cpp.o
[  4%] Linking CXX executable demo_b2
[  4%] Built target demo_b2
Scanning dependencies of target rslidar_dds_test
[  6%] Building CXX object CMakeFiles/rslidar_dds_test.dir/unitree_slam_example/rslidar_dds_test.cpp.o
[  8%] Linking CXX executable rslidar_dds_test
[  8%] Built target rslidar_dds_test
Scanning dependencies of target return_origin
[ 10%] Building CXX object CMakeFiles/return_origin.dir/unitree_slam_example/return_origin.cpp.o
[ 13%] Linking CXX executable return_origin
[ 13%] Built target return_origin
Scanning dependencies of target pause_nav
[ 15%] Building CXX object CMakeFiles/pause_nav.dir/unitree_slam_example/pause_nav.cpp.o
[ 17%] Linking CXX executable pause_nav
[ 17%] Built target pause_nav
Scanning dependencies of target multiple_nav_default
[ 19%] Building CXX object CMakeFiles/multiple_nav_default.dir/unitree_slam_example/multiple_nav_default.cpp.o
[ 21%] Linking CXX executable multiple_nav_default
[ 21%] Built target multiple_nav_default
Scanning dependencies of target demo_mid360
[ 23%] Building CXX object CMakeFiles/demo_mid360.dir/unitree_slam_example/demo_mid360.cpp.o
[ 26%] Linking CXX executable demo_mid360
[ 26%] Built target demo_mid360
Scanning dependencies of target recover_nav
[ 28%] Building CXX object CMakeFiles/recover_nav.dir/unitree_slam_example/recover_nav.cpp.o
[ 30%] Linking CXX executable recover_nav
[ 30%] Built target recover_nav
Scanning dependencies of target add_edge
[ 32%] Building CXX object CMakeFiles/add_edge.dir/unitree_slam_example/add_edge.cpp.o
[ 34%] Linking CXX executable add_edge
[ 34%] Built target add_edge
Scanning dependencies of target start_mappping
[ 36%] Building CXX object CMakeFiles/start_mappping.dir/unitree_slam_example/start_mapping.cpp.o
[ 39%] Linking CXX executable start_mappping
[ 39%] Built target start_mappping
Scanning dependencies of target query_node
[ 41%] Building CXX object CMakeFiles/query_node.dir/unitree_slam_example/query_node.cpp.o
[ 43%] Linking CXX executable query_node
[ 43%] Built target query_node
Scanning dependencies of target add_node
[ 45%] Building CXX object CMakeFiles/add_node.dir/unitree_slam_example/add_node.cpp.o
[ 47%] Linking CXX executable add_node
[ 47%] Built target add_node
Scanning dependencies of target demo_xt16
[ 50%] Building CXX object CMakeFiles/demo_xt16.dir/unitree_slam_example/demo_xt16.cpp.o
[ 52%] Linking CXX executable demo_xt16
[ 52%] Built target demo_xt16
Scanning dependencies of target delete_node
[ 54%] Building CXX object CMakeFiles/delete_node.dir/unitree_slam_example/delete_node.cpp.o
[ 56%] Linking CXX executable delete_node
[ 56%] Built target delete_node
Scanning dependencies of target start_nav
[ 58%] Building CXX object CMakeFiles/start_nav.dir/unitree_slam_example/start_nav.cpp.o
[ 60%] Linking CXX executable start_nav
[ 60%] Built target start_nav
Scanning dependencies of target close_all_node
[ 63%] Building CXX object CMakeFiles/close_all_node.dir/unitree_slam_example/close_all_node.cpp.o
[ 65%] Linking CXX executable close_all_node
[ 65%] Built target close_all_node
Scanning dependencies of target multiple_nav_set
[ 67%] Building CXX object CMakeFiles/multiple_nav_set.dir/unitree_slam_example/multiple_nav_set.cpp.o
[ 69%] Linking CXX executable multiple_nav_set
[ 69%] Built target multiple_nav_set
Scanning dependencies of target end_mappping
[ 71%] Building CXX object CMakeFiles/end_mappping.dir/unitree_slam_example/end_mapping.cpp.o
[ 73%] Linking CXX executable end_mappping
[ 73%] Built target end_mappping
Scanning dependencies of target delete_edge
[ 76%] Building CXX object CMakeFiles/delete_edge.dir/unitree_slam_example/delete_edge.cpp.o
[ 78%] Linking CXX executable delete_edge
[ 78%] Built target delete_edge
Scanning dependencies of target single_nav
[ 80%] Building CXX object CMakeFiles/single_nav.dir/unitree_slam_example/single_nav.cpp.o
[ 82%] Linking CXX executable single_nav
[ 82%] Built target single_nav
Scanning dependencies of target query_edge
[ 84%] Building CXX object CMakeFiles/query_edge.dir/unitree_slam_example/query_edge.cpp.o
[ 86%] Linking CXX executable query_edge
[ 86%] Built target query_edge
Scanning dependencies of target start_relocation
[ 89%] Building CXX object CMakeFiles/start_relocation.dir/unitree_slam_example/start_relocation.cpp.o
[ 91%] Linking CXX executable start_relocation
[ 91%] Built target start_relocation
Scanning dependencies of target pose_init
[ 93%] Building CXX object CMakeFiles/pose_init.dir/unitree_slam_example/pose_init.cpp.o
[ 95%] Linking CXX executable pose_init
[ 95%] Built target pose_init
Scanning dependencies of target set_target_nav
[ 97%] Building CXX object CMakeFiles/set_target_nav.dir/unitree_slam_example/set_target_nav.cpp.o
[100%] Linking CXX executable set_target_nav
[100%] Built target set_target_nav
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 
unitree@ubuntu:/unitree/lib/unitree_slam/build$ 

 

 

 

 

 

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