简体中文

English

简体中文

English

外观

​

基础镜像 ​

  • 基础镜像使用Debian12，可在 下载中心 下载到相关镜像文件。

依赖安装 ​

bash
# 基础依赖
sudo apt update && sudo apt install -y \
	cmake g++ build-essential curl zip unzip tar \
	libyaml-cpp-dev python3-pip libjsoncpp-dev \
	libeigen3-dev python3-serial python3-evdev

# Eigen的功能扩展
sudo apt update && sudo apt install -y libsuitesparse-dev \
	libopenblas-dev liblapack-dev libfftw3-dev libboost-all-dev \
	libmpfr-dev libgmp-dev libhwloc-dev

环境搭建 ​

在这里将构建相关的依赖，并完成环境的设置：

  1. unitree_sdk2拉取构建并设置环境
  2. Unitree Actuator SDK拉取构建并设置环境
  3. YAML-CPP拉取构建并设置环境
  4. Eigen拉取构建并设置环境
  5. JsonCpp拉取构建并设置环境
  6. PyGame安装
  7. RoboTamerSdk4Qmini ：
    1. SDK代码拉取
    2. OnnxRuntime 安装
    3. UnitreeMotorSDK 安装
    4. RoboTamerSdk4Qmini 构建

1. unitree_sdk2 ​

仓库：https://github.com/unitreerobotics/unitree_sdk2

git节点：7694ddffcadc88436343dc0e0d1abb02da74691b

bash
# 返回lckfb主目录
cd ~

# 拉取仓库
git clone https://github.com/unitreerobotics/unitree_sdk2

# 构建
cd unitree_sdk2 && mkdir build && cd build && \
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree

# 安装
sudo make install

# 设置环境
echo "export CMAKE_PREFIX_PATH=/opt/unitree:$CMAKE_PREFIX_PATH" >> ~/.bashrc
source ~/.bashrc
效果如下【点击展开】
bash
lckfb@localhost:~$ git clone https://github.com/unitreerobotics/unitree_sdk2
Cloning into 'unitree_sdk2'...
remote: Enumerating objects: 2706, done.
remote: Counting objects: 100% (545/545), done.
remote: Compressing objects: 100% (228/228), done.
remote: Total 2706 (delta 353), reused 322 (delta 317), pack-reused 2161 (from 2)
Receiving objects: 100% (2706/2706), 86.02 MiB | 5.95 MiB/s, done.
Resolving deltas: 100% (1199/1199), done.
lckfb@localhost:~$ cd unitree_sdk2 && mkdir build && cd build && \
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree
-- The C compiler identification is GNU 13.3.0
-- The CXX compiler identification is GNU 13.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Release' as none was specified.
-- Current system architecture: aarch64
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Importing: /home/lckfb/unitree_sdk2/thirdparty/lib/aarch64/libddsc.so
-- Importing: /home/lckfb/unitree_sdk2/thirdparty/lib/aarch64/libddscxx.so
-- Unitree SDK library found at: /home/lckfb/unitree_sdk2/lib/aarch64/libunitree_sdk2.a
-- Importing: /home/lckfb/unitree_sdk2/lib/aarch64/libunitree_sdk2.a
-- Found Boost: /usr/lib/aarch64-linux-gnu/cmake/Boost-1.83.0/BoostConfig.cmake (found version "1.83.0") found components: program_options
-- Found yaml-cpp version 0.8.0
-- Configuring done (2.5s)
-- Generating done (0.2s)
-- Build files have been written to: /home/lckfb/unitree_sdk2/build
lckfb@localhost:~/unitree_sdk2/build$ sudo make install
[  1%] Building CXX object example/helloworld/CMakeFiles/test_publisher.dir/publisher.cpp.o
[  2%] Building CXX object example/helloworld/CMakeFiles/test_publisher.dir/HelloWorldData.cpp.o
[  3%] Linking CXX executable ../../bin/test_publisher
[  3%] Built target test_publisher
[  5%] Building CXX object example/helloworld/CMakeFiles/test_subscriber.dir/subscriber.cpp.o
[  6%] Building CXX object example/helloworld/CMakeFiles/test_subscriber.dir/HelloWorldData.cpp.o
[  7%] Linking CXX executable ../../bin/test_subscriber
[  7%] Built target test_subscriber
[  8%] Building CXX object example/wireless_controller/CMakeFiles/advanced_gamepad.dir/main.cpp.o
[ 10%] Linking CXX executable ../../bin/advanced_gamepad
[ 10%] Built target advanced_gamepad
[ 11%] Building CXX object example/jsonize/CMakeFiles/test_jsonize.dir/test_jsonize.cpp.o
[ 12%] Linking CXX executable ../../bin/test_jsonize
[ 12%] Built target test_jsonize
[ 13%] Building CXX object example/state_machine/CMakeFiles/state_machine_example.dir/main.cpp.o
[ 15%] Linking CXX executable ../../bin/state_machine_example
[ 15%] Built target state_machine_example
[ 16%] Building CXX object example/go2/CMakeFiles/go2_sport_client.dir/go2_sport_client.cpp.o
[ 17%] Linking CXX executable ../../bin/go2_sport_client
[ 17%] Built target go2_sport_client
[ 18%] Building CXX object example/go2/CMakeFiles/go2_low_level.dir/go2_low_level.cpp.o
[ 20%] Linking CXX executable ../../bin/go2_low_level
[ 20%] Built target go2_low_level
[ 21%] Building CXX object example/go2/CMakeFiles/go2_stand_example.dir/go2_stand_example.cpp.o
[ 22%] Linking CXX executable ../../bin/go2_stand_example
[ 22%] Built target go2_stand_example
[ 23%] Building CXX object example/go2/CMakeFiles/go2_robot_state_client.dir/go2_robot_state_client.cpp.o
[ 25%] Linking CXX executable ../../bin/go2_robot_state_client
[ 25%] Built target go2_robot_state_client
[ 26%] Building CXX object example/go2/CMakeFiles/go2_video_client.dir/go2_video_client.cpp.o
[ 27%] Linking CXX executable ../../bin/go2_video_client
[ 27%] Built target go2_video_client
[ 28%] Building CXX object example/go2/CMakeFiles/go2_vui_client.dir/go2_vui_client.cpp.o
[ 30%] Linking CXX executable ../../bin/go2_vui_client
[ 30%] Built target go2_vui_client
[ 31%] Building CXX object example/b2/CMakeFiles/b2_sport_client.dir/b2_sport_client.cpp.o
[ 32%] Linking CXX executable ../../bin/b2_sport_client
[ 32%] Built target b2_sport_client
[ 33%] Building CXX object example/b2/CMakeFiles/b2_stand_example.dir/b2_stand_example.cpp.o
[ 35%] Linking CXX executable ../../bin/b2_stand_example
[ 35%] Built target b2_stand_example
[ 36%] Building CXX object example/h1/CMakeFiles/h1_loco_client.dir/high_level/h1_loco_client_example.cpp.o
[ 37%] Linking CXX executable ../../bin/h1_loco_client
[ 37%] Built target h1_loco_client
[ 38%] Building CXX object example/h1/CMakeFiles/h1_low_level_example.dir/low_level/humanoid.cpp.o
[ 40%] Linking CXX executable ../../bin/h1_low_level_example
[ 40%] Built target h1_low_level_example
[ 41%] Building CXX object example/h1/CMakeFiles/h1_27dof_example.dir/low_level/h1_27dof_example.cpp.o
[ 42%] Linking CXX executable ../../bin/h1_27dof_example
[ 42%] Built target h1_27dof_example
[ 43%] Building CXX object example/h1/CMakeFiles/h1_2_ankle_track.dir/low_level/h1_2_ankle_track.cpp.o
[ 45%] Linking CXX executable ../../bin/h1_2_ankle_track
[ 45%] Built target h1_2_ankle_track
[ 46%] Building CXX object example/h1/CMakeFiles/h1_arm_sdk_dds_example.dir/high_level/h1_arm_sdk_dds_example.cpp.o
[ 47%] Linking CXX executable ../../bin/h1_arm_sdk_dds_example
[ 47%] Built target h1_arm_sdk_dds_example
[ 48%] Building CXX object example/h1/CMakeFiles/h1_2_arm_sdk_dds_example.dir/high_level/h1_2_arm_sdk_dds_example.cpp.o
[ 50%] Linking CXX executable ../../bin/h1_2_arm_sdk_dds_example
[ 50%] Built target h1_2_arm_sdk_dds_example
[ 51%] Building CXX object example/g1/CMakeFiles/g1_loco_client.dir/high_level/g1_loco_client_example.cpp.o
[ 52%] Linking CXX executable ../../bin/g1_loco_client
[ 52%] Built target g1_loco_client
[ 53%] Building CXX object example/g1/CMakeFiles/g1_arm5_sdk_dds_example.dir/high_level/g1_arm5_sdk_dds_example.cpp.o
[ 55%] Linking CXX executable ../../bin/g1_arm5_sdk_dds_example
[ 55%] Built target g1_arm5_sdk_dds_example
[ 56%] Building CXX object example/g1/CMakeFiles/g1_arm7_sdk_dds_example.dir/high_level/g1_arm7_sdk_dds_example.cpp.o
[ 57%] Linking CXX executable ../../bin/g1_arm7_sdk_dds_example
[ 57%] Built target g1_arm7_sdk_dds_example
[ 58%] Building CXX object example/g1/CMakeFiles/g1_ankle_swing_example.dir/low_level/g1_ankle_swing_example.cpp.o
[ 60%] Linking CXX executable ../../bin/g1_ankle_swing_example
[ 60%] Built target g1_ankle_swing_example
[ 61%] Building CXX object example/g1/CMakeFiles/g1_audio_client_example.dir/audio/g1_audio_client_example.cpp.o
[ 62%] Linking CXX executable ../../bin/g1_audio_client_example
[ 62%] Built target g1_audio_client_example
[ 63%] Building CXX object example/g1/CMakeFiles/g1_dex3_example.dir/dex3/g1_dex3_example.cpp.o
[ 65%] Linking CXX executable ../../bin/g1_dex3_example
[ 65%] Built target g1_dex3_example
[ 66%] Building CXX object example/g1/CMakeFiles/g1_userctrl_dds_example.dir/high_level/g1_userctrl_dds_example.cpp.o
[ 67%] Linking CXX executable ../../bin/g1_userctrl_dds_example
[ 67%] Built target g1_userctrl_dds_example
[ 68%] Building CXX object example/g1/CMakeFiles/g1_termination.dir/low_level/terminations.cpp.o
[ 70%] Linking CXX executable ../../bin/g1_termination
[ 70%] Built target g1_termination
[ 71%] Building CXX object example/g1/CMakeFiles/g1_arm_action_example.dir/high_level/g1_arm_action_example.cpp.o
[ 72%] Linking CXX executable ../../bin/g1_arm_action_example
[ 72%] Built target g1_arm_action_example
[ 73%] Building CXX object example/g1/CMakeFiles/g1_dual_arm_example.dir/low_level/g1_dual_arm_example.cpp.o
[ 75%] Linking CXX executable ../../bin/g1_dual_arm_example
[ 75%] Built target g1_dual_arm_example
[ 76%] Building CXX object example/g1/CMakeFiles/g1_agv_client_example.dir/agv/g1_agv_client_example.cpp.o
[ 77%] Linking CXX executable ../../bin/g1_agv_client_example
[ 77%] Built target g1_agv_client_example
[ 78%] Building CXX object example/go2w/CMakeFiles/go2w_sport_client.dir/go2w_sport_client.cpp.o
[ 80%] Linking CXX executable ../../bin/go2w_sport_client
[ 80%] Built target go2w_sport_client
[ 81%] Building CXX object example/go2w/CMakeFiles/go2w_stand_example.dir/go2w_stand_example.cpp.o
[ 82%] Linking CXX executable ../../bin/go2w_stand_example
[ 82%] Built target go2w_stand_example
[ 83%] Building CXX object example/b2w/CMakeFiles/b2w_sport_client.dir/b2w_sport_client.cpp.o
[ 85%] Linking CXX executable ../../bin/b2w_sport_client
[ 85%] Built target b2w_sport_client
[ 86%] Building CXX object example/b2w/CMakeFiles/b2w_stand_example.dir/b2w_stand_example.cpp.o
[ 87%] Linking CXX executable ../../bin/b2w_stand_example
[ 87%] Built target b2w_stand_example
[ 88%] Building CXX object example/a2/CMakeFiles/a2_sport_client.dir/sport/a2_sport_client.cpp.o
[ 90%] Linking CXX executable ../../bin/a2_sport_client
[ 90%] Built target a2_sport_client
[ 91%] Building CXX object example/a2/CMakeFiles/a2_sport_state.dir/sport/a2_sport_state.cpp.o
[ 92%] Linking CXX executable ../../bin/a2_sport_state
[ 92%] Built target a2_sport_state
[ 93%] Building CXX object example/a2/CMakeFiles/a2_audio_client_example.dir/audio/a2_audio_client_example.cpp.o
[ 95%] Linking CXX executable ../../bin/a2_audio_client_example
[ 95%] Built target a2_audio_client_example
[ 96%] Building CXX object example/r1/CMakeFiles/r1_loco_client.dir/high_level/r1_loco_client_example.cpp.o
[ 97%] Linking CXX executable ../../bin/r1_loco_client
[ 97%] Built target r1_loco_client
[ 98%] Building CXX object example/r1/CMakeFiles/r1_ankle_swing_example.dir/low_level/r1_ankle_swing_example.cpp.o
[100%] Linking CXX executable ../../bin/r1_ankle_swing_example
[100%] Built target r1_ankle_swing_example
Install the project...
-- Install configuration: "Release"
-- Installing: /opt/unitree/include
-- Installing: /opt/unitree/include/unitree
-- Installing: /opt/unitree/include/unitree/idl
-- Installing: /opt/unitree/include/unitree/idl/hg_doubleimu
-- Installing: /opt/unitree/include/unitree/idl/hg_doubleimu/doubleIMUState_.hpp
-- Installing: /opt/unitree/include/unitree/idl/ros2
.....
-- Installing: /opt/unitree/include/dds/dds.h

2. Unitree Actuator SDK ​

仓库：https://github.com/unitreerobotics/unitree_actuator_sdk

bash
# 返回lckfb主目录
cd ~

# 拉取仓库
git clone https://github.com/unitreerobotics/unitree_actuator_sdk

# 构建
cd unitree_actuator_sdk && \
  git checkout GO-M8010-6 && \
  mkdir build && cd build && cmake .. && \
  make -j4
效果如下【点击展开】
bash
lckfb@localhost:~$ git clone https://github.com/unitreerobotics/unitree_actuator_sdk
Cloning into 'unitree_actuator_sdk'...
remote: Enumerating objects: 529, done.
remote: Counting objects: 100% (60/60), done.
remote: Compressing objects: 100% (38/38), done.
remote: Total 529 (delta 34), reused 22 (delta 22), pack-reused 469 (from 1)
Receiving objects: 100% (529/529), 9.03 MiB | 6.12 MiB/s, done.
Resolving deltas: 100% (100/100), done.
lckfb@localhost:~$ cd unitree_actuator_sdk && \
  git checkout GO-M8010-6 && \
  mkdir build && cd build && cmake .. && \
  make -j4
branch 'GO-M8010-6' set up to track 'origin/GO-M8010-6'.
Switched to a new branch 'GO-M8010-6'
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.5 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

-- The C compiler identification is GNU 13.3.0
-- The CXX compiler identification is GNU 13.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (1.5s)
-- Generating done (0.0s)
-- Build files have been written to: /home/lckfb/unitree_actuator_sdk/build
[ 50%] Building CXX object CMakeFiles/motorctrl.dir/example/main.cpp.o
[100%] Linking CXX executable motorctrl
[100%] Built target motorctrl

3. YAML-CPP ​

仓库：https://github.com/jbeder/yaml-cpp

bash
# 返回lckfb主目录
cd ~

# 拉取仓库
git clone https://github.com/jbeder/yaml-cpp

# 构建
cd yaml-cpp && mkdir build && cd build && \
  cmake .. && make -j4 && sudo make install
效果如下【点击展开】
bash
lckfb@localhost:~$ git clone https://github.com/jbeder/yaml-cpp
Cloning into 'yaml-cpp'...
remote: Enumerating objects: 9510, done.
remote: Counting objects: 100% (153/153), done.
remote: Compressing objects: 100% (112/112), done.
remote: Total 9510 (delta 96), reused 41 (delta 41), pack-reused 9357 (from 3)
Receiving objects: 100% (9510/9510), 4.94 MiB | 4.88 MiB/s, done.
Resolving deltas: 100% (6244/6244), done.
lckfb@localhost:~$ cd yaml-cpp && mkdir build && cd build && \
  cmake .. && make -j4 && sudo make install
-- The CXX compiler identification is GNU 13.3.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (0.8s)
-- Generating done (0.1s)
-- Build files have been written to: /home/lckfb/yaml-cpp/build
[  5%] Building CXX object CMakeFiles/yaml-cpp.dir/src/binary.cpp.o
[  5%] Building CXX object CMakeFiles/yaml-cpp.dir/src/contrib/graphbuilderadapter.cpp.o
[  7%] Building CXX object CMakeFiles/yaml-cpp.dir/src/convert.cpp.o
[ 10%] Building CXX object CMakeFiles/yaml-cpp.dir/src/contrib/graphbuilder.cpp.o
[ 12%] Building CXX object CMakeFiles/yaml-cpp.dir/src/depthguard.cpp.o
[ 15%] Building CXX object CMakeFiles/yaml-cpp.dir/src/directives.cpp.o
[ 17%] Building CXX object CMakeFiles/yaml-cpp.dir/src/emit.cpp.o
[ 20%] Building CXX object CMakeFiles/yaml-cpp.dir/src/emitfromevents.cpp.o
[ 23%] Building CXX object CMakeFiles/yaml-cpp.dir/src/emitter.cpp.o
[ 25%] Building CXX object CMakeFiles/yaml-cpp.dir/src/emitterstate.cpp.o
[ 28%] Building CXX object CMakeFiles/yaml-cpp.dir/src/emitterutils.cpp.o
[ 30%] Building CXX object CMakeFiles/yaml-cpp.dir/src/exceptions.cpp.o
[ 33%] Building CXX object CMakeFiles/yaml-cpp.dir/src/exp.cpp.o
[ 35%] Building CXX object CMakeFiles/yaml-cpp.dir/src/fptostring.cpp.o
[ 38%] Building CXX object CMakeFiles/yaml-cpp.dir/src/memory.cpp.o
[ 41%] Building CXX object CMakeFiles/yaml-cpp.dir/src/node.cpp.o
[ 43%] Building CXX object CMakeFiles/yaml-cpp.dir/src/node_data.cpp.o
[ 46%] Building CXX object CMakeFiles/yaml-cpp.dir/src/nodebuilder.cpp.o
[ 48%] Building CXX object CMakeFiles/yaml-cpp.dir/src/nodeevents.cpp.o
[ 51%] Building CXX object CMakeFiles/yaml-cpp.dir/src/null.cpp.o
[ 53%] Building CXX object CMakeFiles/yaml-cpp.dir/src/ostream_wrapper.cpp.o
[ 56%] Building CXX object CMakeFiles/yaml-cpp.dir/src/parse.cpp.o
[ 58%] Building CXX object CMakeFiles/yaml-cpp.dir/src/parser.cpp.o
[ 61%] Building CXX object CMakeFiles/yaml-cpp.dir/src/regex_yaml.cpp.o
[ 64%] Building CXX object CMakeFiles/yaml-cpp.dir/src/scanner.cpp.o
[ 66%] Building CXX object CMakeFiles/yaml-cpp.dir/src/scanscalar.cpp.o
[ 69%] Building CXX object CMakeFiles/yaml-cpp.dir/src/scantag.cpp.o
[ 71%] Building CXX object CMakeFiles/yaml-cpp.dir/src/scantoken.cpp.o
[ 74%] Building CXX object CMakeFiles/yaml-cpp.dir/src/simplekey.cpp.o
[ 76%] Building CXX object CMakeFiles/yaml-cpp.dir/src/singledocparser.cpp.o
[ 79%] Building CXX object CMakeFiles/yaml-cpp.dir/src/stream.cpp.o
[ 82%] Building CXX object CMakeFiles/yaml-cpp.dir/src/tag.cpp.o
[ 84%] Linking CXX static library libyaml-cpp.a
[ 84%] Built target yaml-cpp
[ 87%] Building CXX object util/CMakeFiles/yaml-cpp-read.dir/read.cpp.o
[ 89%] Building CXX object util/CMakeFiles/yaml-cpp-sandbox.dir/sandbox.cpp.o
[ 92%] Building CXX object util/CMakeFiles/yaml-cpp-parse.dir/parse.cpp.o
[ 94%] Linking CXX executable parse
[ 97%] Linking CXX executable read
[100%] Linking CXX executable sandbox
[100%] Built target yaml-cpp-read
[100%] Built target yaml-cpp-parse
[100%] Built target yaml-cpp-sandbox
[ 84%] Built target yaml-cpp
[ 89%] Built target yaml-cpp-sandbox
[ 94%] Built target yaml-cpp-parse
[100%] Built target yaml-cpp-read
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/lib/libyaml-cpp.a
-- Up-to-date: /usr/local/include
-- Installing: /usr/local/include/yaml-cpp
-- Installing: /usr/local/include/yaml-cpp/stlemitter.h
......
-- Installing: /usr/local/lib/pkgconfig/yaml-cpp.pc

4. Eigen ​

仓库：https://gitlab.com/libeigen/eigen

bash
# 返回lckfb主目录
cd ~

# 拉取仓库
git clone https://gitlab.com/libeigen/eigen

# 构建
# 这个不建议使用多核编译，内存占用很大。
cd eigen && mkdir -p build && cd build && \
  cmake .. && make && sudo make install
效果如下【点击展开】
bash
-- Performing Test HAVE_HWLOC_PARENT_MEMBER
-- Performing Test HAVE_HWLOC_PARENT_MEMBER - Success
-- Performing Test HAVE_HWLOC_CACHE_ATTR
-- Performing Test HAVE_HWLOC_CACHE_ATTR - Success
-- Performing Test HAVE_HWLOC_OBJ_PU
-- Performing Test HAVE_HWLOC_OBJ_PU - Success
-- Looking for hwloc_bitmap_free in hwloc
-- Looking for hwloc_bitmap_free in hwloc - found
-- Looking for Fortran sgemm
-- Looking for Fortran sgemm - not found
-- Found Threads: TRUE
-- Looking for Fortran sgemm
-- Looking for Fortran sgemm - found
-- Performing Test SCOTCH_Num_4
-- Performing Test SCOTCH_Num_4 - Failed
-- Performing Test SCOTCH_Num_8
-- Performing Test SCOTCH_Num_8 - Failed
-- A version of Pastix has been found but pastix_nompi.h does not exist in the include directory. Because Eigen tests require a version without MPI, we disable the Pastix backend.
-- SPQR version: 4.3.2
-- SPQR include: /usr/include/suitesparse
-- SPQR library: /usr/lib/aarch64-linux-gnu/libspqr.so.4.3.2
-- SPQR static:  /usr/lib/aarch64-linux-gnu/libspqr.a
-- Could NOT find Accelerate (missing: Accelerate_INCLUDES Accelerate_LIBRARIES)
-- Found unsuitable Qt version "" from NOTFOUND
-- Performing Test COMPILER_SUPPORTS_VECTOR_EXTENSIONS
-- Performing Test COMPILER_SUPPORTS_VECTOR_EXTENSIONS - Failed
-- Performing Test COMPILER_SUPPORT_FASTMATH
-- Performing Test COMPILER_SUPPORT_FASTMATH - Success
-- Performing Test COMPILER_SUPPORT_WNO_NAN_INF
-- Performing Test COMPILER_SUPPORT_WNO_NAN_INF - Success
CUDA_TOOLKIT_ROOT_DIR not found or specified
-- Could NOT find CUDA (missing: CUDA_TOOLKIT_ROOT_DIR CUDA_NVCC_EXECUTABLE CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY) (Required is at least version "9.0")
-- Found MPFR: /usr/include (Required is at least version "1.0.0")
-- Found GMP: /usr/include/aarch64-linux-gnu
-- ************************************************************
-- ***    Eigen's unit tests configuration summary          ***
-- ************************************************************
--
-- Build type:        Release
-- Build site:        localhost
-- Build string:      linux-6.1.99-_-13.3.0-sse2-64bit
-- Enabled backends:  CHOLMOD,  UMFPACK,  KLU,  SPQR,  Boost.Multiprecision,
-- Disabled backends: SuperLU,  PaStiX,  METIS,  Accelerate,  Qt4 support,
-- Default order:     Column-major
-- Maximal matrix/vector size: 320
-- SSE2:              Using architecture defaults
-- SSE3:              Using architecture defaults
-- SSSE3:             Using architecture defaults
-- SSE4.1:            Using architecture defaults
-- SSE4.2:            Using architecture defaults
-- AVX:               Using architecture defaults
-- AVX2:              Using architecture defaults
-- FMA:               Using architecture defaults
-- AVX512:            Using architecture defaults
-- AVX512DQ:          Using architecture defaults
-- Altivec:           Using architecture defaults
-- VSX:               Using architecture defaults
-- MIPS MSA:          Using architecture defaults
-- ARM NEON:          Using architecture defaults
-- ARMv8 NEON:        Using architecture defaults
-- S390X ZVECTOR:     Using architecture defaults
-- LSX:               Using architecture defaults
-- SYCL:              OFF
-- CUDA:              OFF
-- HIP:               OFF
--
CXX:               /usr/bin/c++
 CXX_VERSION:       c++ (Ubuntu 13.3.0-6ubuntu2~24.04.1) 13.3.0
 CXX_FLAGS:          -pedantic -Wall -Wextra -Wundef -Wcast-align -Wchar-subscripts -Wnon-virtual-dtor -Wunused-local-typedefs -Wpointer-arith -Wwrite-strings -Wformat-security -Wlogical-op -Wenum-conversion -Wc++11-extensions -Wdouble-promotion -Wshadow -Wno-psabi -Wno-variadic-macros -Wno-long-long -Wno-pass-failed -fno-common -fstrict-aliasing -fno-check-new -Wno-array-bounds -Wno-maybe-uninitialized -Wno-stringop-overread -Wno-nonnull
 Sparse lib flags:   ;SuiteSparse::CHOLMOD;eigen_blas;eigen_lapack;SuiteSparse::UMFPACK;eigen_blas;SuiteSparse::KLU;eigen_blas;SuiteSparse::SPQR;SuiteSparse::CHOLMOD;eigen_lapack;eigen_blas

-- ************************************************************
-- Could NOT find GoogleHash (missing: GOOGLEHASH_INCLUDES GOOGLEHASH_COMPILE)
-- Could NOT find Adolc (missing: ADOLC_INCLUDES ADOLC_LIBRARIES)
-- Could NOT find MPREAL (missing: MPREAL_INCLUDES MPREAL_VERSION_OK MPREAL_WORKS) (Required is at least version "1.0.0")
-- Found PkgConfig: /usr/bin/pkg-config (found version "1.8.1")
-- Found FFTW: /usr/include
INFO  DUCCFFT-NOTFOUND
CUDA_TOOLKIT_ROOT_DIR not found or specified
-- Could NOT find CUDA (missing: CUDA_TOOLKIT_ROOT_DIR CUDA_NVCC_EXECUTABLE CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY) (Required is at least version "9.0")
-- Found unsuitable Qt version "" from NOTFOUND
-- Found unsuitable Qt version "" from NOTFOUND
-- Qt4 not found, so disabling the mandelbrot and opengl demos
-- Available targets (use: make TARGET):
-- ------------+--------------------------------------------------------------
-- Target      |   Description
-- ------------+--------------------------------------------------------------
-- install     | Install Eigen. Headers will be installed to:
--             |     <CMAKE_INSTALL_PREFIX>/<INCLUDE_INSTALL_DIR>
--             |   Using the following values:
--             |     CMAKE_INSTALL_PREFIX: /usr/local
--             |     INCLUDE_INSTALL_DIR:  include/eigen3
--             |   Change the install location of Eigen headers using:
--             |     cmake . -DCMAKE_INSTALL_PREFIX=yourprefix
--             |   Or:
--             |     cmake . -DINCLUDE_INSTALL_DIR=yourdir
-- uninstall   | Remove files installed by the install target
-- doc         | Generate the API documentation, requires Doxygen & LaTeX
-- install-doc | Install the API documentation
-- check       | Build and run the unit-tests. Read this page:
--             |   http://eigen.tuxfamily.org/index.php?title=Tests
-- blas        | Build BLAS library (not the same thing as Eigen)
-- lapack      | Build LAPACK subset library (not the same thing as Eigen)
-- ------------+--------------------------------------------------------------
--
--
-- Configured Eigen 5.0.1
--
-- Configuring done (27.9s)
-- Generating done (7.0s)
-- Build files have been written to: /home/lckfb/eigen/build
[  0%] Building CXX object blas/CMakeFiles/eigen_blas_static.dir/single.cpp.o
[  0%] Building CXX object blas/CMakeFiles/eigen_blas_static.dir/double.cpp.o
........
[100%] Building Fortran object lapack/CMakeFiles/eigen_lapack.dir/zlacgv.f.o
[100%] Building Fortran object lapack/CMakeFiles/eigen_lapack.dir/slamch.f.o
[100%] Building Fortran object lapack/CMakeFiles/eigen_lapack.dir/dlamch.f.o
[100%] Linking CXX shared library libeigen_lapack.so
[100%] Built target eigen_lapack
[  0%] Built target eigen_blas_static
[ 25%] Built target eigen_blas
[ 50%] Built target eigen_lapack_static
[100%] Built target eigen_lapack
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/include/eigen3/signature_of_eigen3_matrix_library
.........
-- Installing: /usr/local/lib/libeigen_lapack.so

5. JsonCpp ​

仓库：https://github.com/Microsoft/vcpkg

bash
# 返回lckfb主目录
cd ~

# 拉取仓库
git clone https://github.com/Microsoft/vcpkg

# 构建
cd vcpkg && ./bootstrap-vcpkg.sh && \
  ./vcpkg integrate install && \
  ./vcpkg install jsoncpp
效果如下【点击展开】
bash
lckfb@localhost:~$ git clone https://github.com/Microsoft/vcpkg
Cloning into 'vcpkg'...
remote: Enumerating objects: 313794, done.
remote: Counting objects: 100% (245/245), done.
remote: Compressing objects: 100% (136/136), done.
remote: Total 313794 (delta 175), reused 129 (delta 109), pack-reused 313549 (from 3)
Receiving objects: 100% (313794/313794), 99.46 MiB | 6.72 MiB/s, done.
Resolving deltas: 100% (211315/211315), done.
Updating files: 100% (13622/13622), done.
lckfb@localhost:~$ cd vcpkg && ./bootstrap-vcpkg.sh && \
  ./vcpkg integrate install && \
  ./vcpkg install jsoncpp
Downloading vcpkg-arm64-glibc...
vcpkg package management program version 2026-03-04-4b3e4c276b5b87a649e66341e11553e8c577459c

See LICENSE.txt for license information.
Telemetry
---------
vcpkg collects usage data in order to help us improve your experience.
The data collected by Microsoft is anonymous.
You can opt-out of telemetry by re-running the bootstrap-vcpkg script with -disableMetrics,
passing --disable-metrics to vcpkg on the command line,
or by setting the VCPKG_DISABLE_METRICS environment variable.

Read more about vcpkg telemetry at docs/about/privacy.md
Applied user-wide integration for this vcpkg root.
CMake projects should use: "-DCMAKE_TOOLCHAIN_FILE=/home/lckfb/vcpkg/scripts/buildsystems/vcpkg.cmake"
Computing installation plan...
A suitable version of cmake was not found (required v3.31.10).
Downloading https://github.com/Kitware/CMake/releases/download/v3.31.10/cmake-3.31.10-linux-aarch64.tar.gz -> cmake-3.31.10-linux-aarch64.tar.gz
Successfully downloaded cmake-3.31.10-linux-aarch64.tar.gz
Extracting cmake...
The following packages will be built and installed:
jsoncpp:arm64-linux@1.9.6
* vcpkg-cmake:arm64-linux@2024-04-23
* vcpkg-cmake-config:arm64-linux@2024-05-23
Additional packages (*) will be modified to complete this operation.
Detecting compiler hash for triplet arm64-linux...
Compiler found: /usr/bin/c++
Restored 0 package(s) from /home/lckfb/.cache/vcpkg/archives in 41 us. Use --debug to see more details.
Installing 1/3 vcpkg-cmake:arm64-linux@2024-04-23...
vcpkg-cmake:arm64-linux@2024-04-23 package ABI: 939c42389e2f90954a5bece2989df77774f066e55b62ff6624211772435a69a1
Building vcpkg-cmake:arm64-linux@2024-04-23...
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake_arm64-linux/share/vcpkg-cmake/vcpkg_cmake_configure.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake_arm64-linux/share/vcpkg-cmake/vcpkg_cmake_build.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake_arm64-linux/share/vcpkg-cmake/vcpkg_cmake_install.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake_arm64-linux/share/vcpkg-cmake/vcpkg-port-config.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake_arm64-linux/share/vcpkg-cmake/copyright
-- Performing post-build validation
Starting submission of vcpkg-cmake:arm64-linux@2024-04-23 to 1 binary cache(s) in the background
Elapsed time to handle vcpkg-cmake:arm64-linux: 58.8 ms
Installing 2/3 vcpkg-cmake-config:arm64-linux@2024-05-23...
vcpkg-cmake-config:arm64-linux@2024-05-23 package ABI: 10889e4a5335addb5d5d23f6a85f8e9b347eb2164241452c7302d0132b75a90a
Building vcpkg-cmake-config:arm64-linux@2024-05-23...
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake-config_arm64-linux/share/vcpkg-cmake-config/vcpkg_cmake_config_fixup.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake-config_arm64-linux/share/vcpkg-cmake-config/vcpkg-port-config.cmake
-- Installing: /home/lckfb/vcpkg/packages/vcpkg-cmake-config_arm64-linux/share/vcpkg-cmake-config/copyright
-- Skipping post-build validation due to VCPKG_POLICY_EMPTY_PACKAGE
Starting submission of vcpkg-cmake-config:arm64-linux@2024-05-23 to 1 binary cache(s) in the background
Elapsed time to handle vcpkg-cmake-config:arm64-linux: 52.5 ms
Completed submission of vcpkg-cmake:arm64-linux@2024-04-23 to 1 binary cache(s) in 11.9 ms
Installing 3/3 jsoncpp:arm64-linux@1.9.6...
jsoncpp:arm64-linux@1.9.6 package ABI: f28bdd5948ac302179557162b7c1821563c7d041d31c88ccc4a9e8befeb0766c
Building jsoncpp:arm64-linux@1.9.6...
Downloading https://github.com/open-source-parsers/jsoncpp/archive/1.9.6.tar.gz -> open-source-parsers-jsoncpp-1.9.6.tar.gz
Successfully downloaded open-source-parsers-jsoncpp-1.9.6.tar.gz
-- Extracting source /home/lckfb/vcpkg/downloads/open-source-parsers-jsoncpp-1.9.6.tar.gz
-- Using source at /home/lckfb/vcpkg/buildtrees/jsoncpp/src/1.9.6-29ceffc35f.clean
-- Configuring arm64-linux
-- Building arm64-linux-dbg
-- Building arm64-linux-rel
-- Fixing pkgconfig file: /home/lckfb/vcpkg/packages/jsoncpp_arm64-linux/lib/pkgconfig/jsoncpp.pc
-- Fixing pkgconfig file: /home/lckfb/vcpkg/packages/jsoncpp_arm64-linux/debug/lib/pkgconfig/jsoncpp.pc
-- Installing: /home/lckfb/vcpkg/packages/jsoncpp_arm64-linux/share/jsoncpp/copyright
-- Performing post-build validation
Starting submission of jsoncpp:arm64-linux@1.9.6 to 1 binary cache(s) in the background
Elapsed time to handle jsoncpp:arm64-linux: 24 s
Total install time: 24 s
Installed contents are licensed to you by owners. Microsoft is not responsible for, nor does it grant any licenses to, third-party packages.
Packages installed in this vcpkg installation declare the following licenses:
MIT
jsoncpp provides CMake targets:

# this is heuristically generated, and may not be correct
find_package(jsoncpp CONFIG REQUIRED)
target_link_libraries(main PRIVATE JsonCpp::JsonCpp)

jsoncpp provides pkg-config modules:

# A C++ library for interacting with JSON
jsoncpp

Completed submission of vcpkg-cmake-config:arm64-linux@2024-05-23 to 1 binary cache(s) in 8.56 ms
Waiting for 1 remaining binary cache submissions...
Completed submission of jsoncpp:arm64-linux@1.9.6 to 1 binary cache(s) in 332 ms (1/1)
All requested installations completed successfully in: 24 s

6. PyGame ​

安装相关的依赖：

bash
sudo apt install -y python3-pygame

7. RoboTamerSdk4Qmini ​

主代码使用 RoboTamerSdk4Qmini 此仓库代码进行快速部署。后续有问题需要在此基础上进行微调即可。

7.1. SDK代码拉取 ​

bash
# 返回lckfb主目录
cd ~

# 拉取代码
git clone https://github.com/vsislab/RoboTamerSdk4Qmini.git

7.2. OnnxRuntime安装 ​

bash
# 进入目标目录
cd ~/RoboTamerSdk4Qmini/lib/onnx

# 复制文件到目标目录
sudo cp -r libonnxruntime.so libonnxruntime.so.1.* /usr/local/lib

# 更新缓存
sudo ldconfig

7.3. UnitreeMotorSDK安装 ​

bash
# 进入目标目录
cd ~/RoboTamerSdk4Qmini/lib/m8010motor

# 复制文件到目标目录
sudo cp libUnitreeMotorSDK_Arm64.so /usr/local/lib/

# 更新缓存
sudo ldconfig

7.4. RoboTamerSdk4Qmini构建 ​

bash
# 创建目录并进入
mkdir -p ~/RoboTamerSdk4Qmini/build && cd ~/RoboTamerSdk4Qmini/build

# 构建项目
cmake -DPLATFORM=arm64 .. && make -j2
效果如下【点击展开】
bash
lckfb@localhost:~$ git clone https://github.com/vsislab/RoboTamerSdk4Qmini.git
Cloning into 'RoboTamerSdk4Qmini'...
remote: Enumerating objects: 912, done.
remote: Counting objects: 100% (5/5), done.
remote: Total 912 (delta 4), reused 4 (delta 4), pack-reused 907 (from 2)
Receiving objects: 100% (912/912), 30.75 MiB | 6.76 MiB/s, done.
Resolving deltas: 100% (294/294), done.
Updating files: 100% (774/774), done.
lckfb@localhost:~$ cd ~/RoboTamerSdk4Qmini/lib/onnx
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/onnx$ sudo cp -r libonnxruntime.so libonnxruntime.so.1.* /usr/local/lib
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/onnx$ sudo ldconfig
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/onnx$ cd ~/RoboTamerSdk4Qmini/lib/m8010motor
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/m8010motor$ sudo cp libUnitreeMotorSDK_Arm64.so /usr/local/lib/
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/m8010motor$ sudo ldconfig
lckfb@localhost:~/RoboTamerSdk4Qmini/lib/m8010motor$ mkdir -p ~/RoboTamerSdk4Qmini/build && cd ~/RoboTamerSdk4Qmini/build
lckfb@localhost:~/RoboTamerSdk4Qmini/build$ cmake -DPLATFORM=arm64 .. && make -j2
-- The C compiler identification is GNU 13.3.0
-- The CXX compiler identification is GNU 13.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Debug' as none was specified.
-- Current system architecture: aarch64
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Importing: /home/lckfb/RoboTamerSdk4Qmini/thirdparty/lib/aarch64/libddsc.so
-- Importing: /home/lckfb/RoboTamerSdk4Qmini/thirdparty/lib/aarch64/libddscxx.so
-- Unitree SDK library found at: /home/lckfb/RoboTamerSdk4Qmini/lib/aarch64/libunitree_sdk2.a
-- Importing: /home/lckfb/RoboTamerSdk4Qmini/lib/aarch64/libunitree_sdk2.a
-- Found Python3: /usr/bin/python3 (found version "3.12.3") found components: Interpreter Development Development.Module Development.Embed
-- Configuring done (2.7s)
CMake Warning (dev) at CMakeLists.txt:101 (target_link_libraries):
  The library that is being linked to, yaml-cpp, is marked as being
  deprecated by the owner.  The message provided by the developer is:

  The target yaml-cpp is deprecated and will be removed in version 0.10.0.
  Use the yaml-cpp::yaml-cpp target instead.

This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:101 (target_link_libraries):
  The library that is being linked to, yaml-cpp, is marked as being
  deprecated by the owner.  The message provided by the developer is:

  The target yaml-cpp is deprecated and will be removed in version 0.10.0.
  Use the yaml-cpp::yaml-cpp target instead.

This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:101 (target_link_libraries):
  The library that is being linked to, yaml-cpp, is marked as being
  deprecated by the owner.  The message provided by the developer is:

  The target yaml-cpp is deprecated and will be removed in version 0.10.0.
  Use the yaml-cpp::yaml-cpp target instead.

This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:101 (target_link_libraries):
  The library that is being linked to, yaml-cpp, is marked as being
  deprecated by the owner.  The message provided by the developer is:

  The target yaml-cpp is deprecated and will be removed in version 0.10.0.
  Use the yaml-cpp::yaml-cpp target instead.

This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:101 (target_link_libraries):
  The library that is being linked to, yaml-cpp, is marked as being
  deprecated by the owner.  The message provided by the developer is:

  The target yaml-cpp is deprecated and will be removed in version 0.10.0.
  Use the yaml-cpp::yaml-cpp target instead.

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done (0.0s)
CMake Warning:
  Manually-specified variables were not used by the project:

    PLATFORM

-- Build files have been written to: /home/lckfb/RoboTamerSdk4Qmini/build
[ 25%] Building CXX object CMakeFiles/run_interface.dir/source/user/custom.cpp.o
[ 50%] Building CXX object CMakeFiles/run_interface.dir/source/run_interface.cpp.o
[ 75%] Building CXX object CMakeFiles/run_interface.dir/source/user/rl_controller.cpp.o
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In static member function ‘static Vec3<float> RLController::convert_world_frame_to_base_frame(Vec3<float>&, Vec3<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:280:113: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  280 | Vec3<float> RLController::convert_world_frame_to_base_frame(const Vec3<float> &world_vec, const Vec3<float> &rpy) {
      |                                                                                                                 ^
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec4<float> RLController::quat_product(Vec4<float>&, Vec4<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:302:72: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  302 | Vec4<float> RLController::quat_product(Vec4<float> &q1, Vec4<float> &q2) {
      |                                                                        ^
In file included from /usr/local/include/eigen3/Eigen/Geometry:36,
                 from /usr/local/include/eigen3/Eigen/Dense:6,
                 from /home/lckfb/RoboTamerSdk4Qmini/include/user/onnx_inference.h:12,
                 from /home/lckfb/RoboTamerSdk4Qmini/include/user/rl_controller.h:6,
                 from /home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:1:
/usr/local/include/eigen3/Eigen/src/Geometry/OrthoMethods.h: In instantiation of ‘typename Eigen::internal::cross_impl<Derived, OtherDerived>::return_type Eigen::MatrixBase<Derived>::cross(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<float, 3, 1>; typename Eigen::internal::cross_impl<Derived, OtherDerived>::return_type = Eigen::Matrix<float, 3, 1>; Base = Eigen::DenseBase<Eigen::Matrix<float, 3, 1> >]’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:293:20:   required from here
/usr/local/include/eigen3/Eigen/src/Geometry/OrthoMethods.h:91:1: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
   91 | MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const {
      | ^~~~~~~~~~~~~~~~~~~
In file included from /home/lckfb/RoboTamerSdk4Qmini/include/user/rl_controller.h:12:
/home/lckfb/RoboTamerSdk4Qmini/include/utils/orientation_tools.h: In instantiation of ‘Quat<typename T::Scalar> ori::rotMat_to_quat(const Eigen::MatrixBase<Derived>&) [with T = Eigen::Matrix<float, 3, 3>; Quat<typename T::Scalar> = Eigen::Matrix<float, 4, 1>; typename T::Scalar = float]’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:323:33:   required from here
/home/lckfb/RoboTamerSdk4Qmini/include/utils/orientation_tools.h:81:30: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
   81 |     Quat<typename T::Scalar> rotMat_to_quat(
      |                              ^~~~~~~~~~~~~~
In file included from /usr/local/include/eigen3/Eigen/Core:359,
                 from /usr/local/include/eigen3/Eigen/Dense:1:
/usr/local/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘Eigen::DenseBase<Derived>::EvalReturnType Eigen::DenseBase<Derived>::eval() const [with Derived = Eigen::Transpose<Eigen::Matrix<float, 3, 1> >; EvalReturnType = const Eigen::Matrix<float, 1, 3>]’:
/usr/local/include/eigen3/Eigen/src/Core/IO.h:223:42:   required from ‘std::ostream& Eigen::operator<<(std::ostream&, const DenseBase<Derived>&) [with Derived = Transpose<Matrix<float, 3, 1> >; std::ostream = std::basic_ostream<char>]’
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:60:59:   required from here
/usr/local/include/eigen3/Eigen/src/Core/DenseBase.h:386:56: note: parameter passing for argument of type ‘Eigen::Matrix<float, 1, 3>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  386 |   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EvalReturnType eval() const {
      |                                                        ^~~~
/usr/local/include/eigen3/Eigen/src/Geometry/OrthoMethods.h: In instantiation of ‘static Eigen::internal::cross_impl<Derived, OtherDerived, Size>::return_type Eigen::internal::cross_impl<Derived, OtherDerived, Size>::run(const Eigen::MatrixBase<Derived>&, const Eigen::MatrixBase<Rhs>&) [with Derived = Eigen::Matrix<float, 3, 1>; OtherDerived = Eigen::Matrix<float, 3, 1>; int Size = 3; return_type = Eigen::Matrix<float, 3, 1>]’:
/usr/local/include/eigen3/Eigen/src/Geometry/OrthoMethods.h:92:58:   required from ‘typename Eigen::internal::cross_impl<Derived, OtherDerived>::return_type Eigen::MatrixBase<Derived>::cross(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<float, 3, 1>; typename Eigen::internal::cross_impl<Derived, OtherDerived>::return_type = <type error>; Base = Eigen::DenseBase<Eigen::Matrix<float, 3, 1> >]’
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:293:20:   required from here
/usr/local/include/eigen3/Eigen/src/Geometry/OrthoMethods.h:28:60: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
   28 |   static EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE return_type run(const MatrixBase<Derived>& first,
      |                                                            ^~~
In file included from /usr/local/include/eigen3/Eigen/Core:356:
/usr/local/include/eigen3/Eigen/src/Core/IO.h: In function ‘std::ostream& Eigen::operator<<(std::ostream&, const DenseBase<Derived>&) [with Derived = Transpose<Matrix<float, 3, 1> >]’:
/usr/local/include/eigen3/Eigen/src/Core/IO.h:223:42: note: parameter passing for argument of type ‘Eigen::Matrix<float, 1, 3>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  223 |   return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
      |                                    ~~~~~~^~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘void RLController::compute_pm_phase(Vec2<float>)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:204:6: note: parameter passing for argument of type ‘Eigen::Matrix<float, 2, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  204 | void RLController::compute_pm_phase(Vec2<float> f) {
      |      ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In static member function ‘static Vec3<float> RLController::convert_world_frame_to_base_frame(Vec3<float>&, Vec3<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:280:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  280 | Vec3<float> RLController::convert_world_frame_to_base_frame(const Vec3<float> &world_vec, const Vec3<float> &rpy) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec3<float> RLController::quat_rotate_inverse(Vec4<float>, Vec3<float>)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:284:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  284 | Vec3<float> RLController::quat_rotate_inverse(Vec4<float> q, Vec3<float> v) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:284:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec4<float> RLController::quat_product(Vec4<float>&, Vec4<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:302:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  302 | Vec4<float> RLController::quat_product(Vec4<float> &q1, Vec4<float> &q2) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:310:49: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  310 |     Vec3<float> v = r1 * v2 + r2 * v1 + v1.cross(v2);
      |                                         ~~~~~~~~^~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:312:12: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  312 |     return q;
      |            ^
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:310:49: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  310 |     Vec3<float> v = r1 * v2 + r2 * v1 + v1.cross(v2);
      |                                         ~~~~~~~~^~~~
/usr/local/include/eigen3/Eigen/src/Core/IO.h: In function ‘std::ostream& Eigen::operator<<(std::ostream&, const DenseBase<Derived>&) [with Derived = Transpose<Matrix<float, 3, 1> >]’:
/usr/local/include/eigen3/Eigen/src/Core/IO.h:223:42: note: parameter passing for argument of type ‘Eigen::Matrix<float, 1, 3>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  223 |   return internal::print_matrix(s, m.eval(), EIGEN_DEFAULT_IO_FORMAT);
      |                                    ~~~~~~^~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘void RLController::compute_pm_phase(Vec2<float>)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:204:6: note: parameter passing for argument of type ‘Eigen::Matrix<float, 2, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  204 | void RLController::compute_pm_phase(Vec2<float> f) {
      |      ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec3<float> RLController::quat_rotate_inverse(Vec4<float>, Vec3<float>)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:284:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  284 | Vec3<float> RLController::quat_rotate_inverse(Vec4<float> q, Vec3<float> v) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:284:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:284:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec4<float> RLController::quat_product(Vec4<float>&, Vec4<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:302:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  302 | Vec4<float> RLController::quat_product(Vec4<float> &q1, Vec4<float> &q2) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In static member function ‘static Vec3<float> RLController::convert_world_frame_to_base_frame(Vec3<float>&, Vec3<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:280:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 3, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  280 | Vec3<float> RLController::convert_world_frame_to_base_frame(const Vec3<float> &world_vec, const Vec3<float> &rpy) {
      |             ^~~~~~~~~~~~
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp: In member function ‘Vec4<float> RLController::rpy_to_quat(Vec3<float>&)’:
/home/lckfb/RoboTamerSdk4Qmini/source/user/rl_controller.cpp:321:13: note: parameter passing for argument of type ‘Eigen::Matrix<float, 4, 1>’ when C++17 is enabled changed to match C++14 in GCC 10.1
  321 | Vec4<float> RLController::rpy_to_quat(const Vec3<float> &rpy) {
      |             ^~~~~~~~~~~~
[100%] Linking CXX executable /home/lckfb/RoboTamerSdk4Qmini/bin/run_interface
[100%] Built target run_interface
lckfb@localhost:~/RoboTamerSdk4Qmini/build$ ls -la ~/RoboTamerSdk4Qmini/bin/
total 56440
drwxrwxr-x 2 lckfb lckfb     4096 Mar 26 15:15 .
drwxrwxr-x 9 lckfb lckfb     4096 Mar 26 15:13 ..
-rw-rw-r-- 1 lckfb lckfb     1018 Mar 26 15:13 config.yaml
-rw-rw-r-- 1 lckfb lckfb  4537107 Mar 26 15:13 general.txt
-rw-rw-r-- 1 lckfb lckfb      167 Mar 26 15:13 imu_interface.py
-rw-rw-r-- 1 lckfb lckfb     8540 Mar 26 15:13 imu_receiver.py
-rw-rw-r-- 1 lckfb lckfb     4765 Mar 26 15:13 joystick.py
-rw-rw-r-- 1 lckfb lckfb   805015 Mar 26 15:13 policy.onnx
-rw-rw-r-- 1 lckfb lckfb 12120278 Mar 26 15:13 rl.txt
-rwxrwxr-x 1 lckfb lckfb 17552152 Mar 26 15:15 run_interface
-rw-rw-r-- 1 lckfb lckfb 22737432 Mar 26 15:13 test_interface

RoboTamerSdk4Qmini 构建完成之后，会在~/RoboTamerSdk4Qmini/bin/ 目录中生成一个 run_interface 可运行文件，之后我们就需要这个东西。

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