readme_self.md

需要安装的依赖库：

sudo apt install mesa-common-dev freeglut3-dev coinor-libipopt-dev libblas-dev liblapack-dev gfortran liblapack-dev coinor-libipopt-dev cmake gcc build-essential libglib2.0-dev

sudo apt-get install default-jdk python-all-dev liblua5.1-0-dev golang doxygen python-epydoc libc6-dev

sim界面需要依赖qt,要修改安装包的路径：

if(POLICY CMP0071) cmake_policy(SET CMP0071 OLD) endif()

Instruct CMake to run moc automatically when needed

set(CMAKE_AUTOMOC ON)

Create code from a list of Qt designer ui files

set(CMAKE_AUTOUIC ON) set(CMAKE_AUTORCC ON)

set(Qt5Core_DIR /opt/Qt5.10.0/5.10.0/gcc_64/lib/cmake/Qt5Core) set(Qt5Widgets_DIR /opt/Qt5.10.0/5.10.0/gcc_64/lib/cmake/Qt5Widgets) set(Qt5Gamepad_DIR /opt/Qt5.10.0/5.10.0/gcc_64/lib/cmake/Qt5Gamepad)

find_package(Qt5Core CONFIG REQUIRED) find_package(Qt5Widgets CONFIG REQUIRED) get_target_property(QtCore_location Qt5::Core LOCATION) message(STATUS ${QtCore_location}) find_package(Qt5Gui CONFIG REQUIRED)

测试

./sim/sim ./user/MIT_Controller/mit_ctrl m s

qt 安装在 /opt/qt/ 目录下

可能存在的问题：找不到 liblsm.so.1

sudo cp /usr/local/lib/liblcm.* .