caowangrenbo
cf70b1a1d7
Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only. Packages: - invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs. - invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX policy with per-gait models, auto RL entry after standup with readiness checks, safety loop, gait->model table; no protocol/network code. - invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0), header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry 1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state. - invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands. Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam, gait preconditions, error codes), telemetry push, and end-to-end switching of two policy models with a real remote controller.
36 lines
1.1 KiB
Plaintext
36 lines
1.1 KiB
Plaintext
Installation instructions for Eigen
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***********************************
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Explanation before starting
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***************************
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Eigen consists only of header files, hence there is nothing to compile
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before you can use it. Moreover, these header files do not depend on your
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platform, they are the same for everybody.
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Method 1. Installing without using CMake
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****************************************
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You can use right away the headers in the Eigen/ subdirectory. In order
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to install, just copy this Eigen/ subdirectory to your favorite location.
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If you also want the unsupported features, copy the unsupported/
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subdirectory too.
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Method 2. Installing using CMake
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********************************
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Let's call this directory 'source_dir' (where this INSTALL file is).
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Before starting, create another directory which we will call 'build_dir'.
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Do:
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cd build_dir
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cmake source_dir
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make install
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The "make install" step may require administrator privileges.
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You can adjust the installation destination (the "prefix")
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by passing the -DCMAKE_INSTALL_PREFIX=myprefix option to cmake, as is
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explained in the message that cmake prints at the end.
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