GPU-VOXELS 설치방법 · 연구/정리/코드

1. 필요 라이브러리/ 드라이버 / 환경

Nvidia Graphic Driver
CUDA 10.0 버전 이상
cmake 최신버전
OpenNI2
PCL
ROS
BOOST
Ubuntu 16.04

2. Nvidia Graphic Driver 설치

https://www.nvidia.com/Download/Find.aspx?lang=en-us 에서 자신의 그래픽 카드 종류와 Ubuntu 버전에 알맞는 드라이버 파일(‘NVIDIA-Linux-x86_64-xxx.xxx.run') 다운로드.

sudo apt-get update
sudo apt-get remove nvidia* && sudo apt autoremove 
sudo apt-get install dkms build-essential linux-headers-generic
sudo gedit /etc/modprobe.d/blacklist.conf
  

blacklist.conf 파일을 열고 맨 아래에 다음을 추가한다.

blacklist nouveau
blacklist lbm-nouveau
options nouveau modeset=0
alias nouveau off
alias lbm-nouveau off
  

echo options nouveau modeset=0 | sudo tee -a /etc/modprobe.d/nouveau-kms.conf
sudo update-initramfs -u
sudo init 3
  

init 3 명령을 통해 gui모드를 종료하고 cui모드로 전환 이후 ctrl + f2 키를 이용하여 창 전환 이후 root계정으로 로그인.

cd /home/user/Downloads
chmod 777 NVIDIA-Linux-x86_64-xxx.xxx.run
./NVIDIA-Linux-x86_64-xxx.xxx.run

sudo apt-get install dkms nvidia-modprobe
sudo lspci - k
nvidia-smi

  

3. ROS Kinetic 설치

ROS는 root 권한으로 설치 시 오류가 발생할 수 있으나 대부분 해결 가능한 경우이다. user권한으로 설치 시 다양한 라이브러리들과의 결합 시 보다 심각한 오류가 발생할 수 있음.(root로 설치 하는 것을 추천)

wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
  

sudo apt-get install ros-kinetic-moveit ros-kinetic-industrial-core ros-kinetic-moveit-visual-tools ros-kinetic-joint-state-publisher-gui ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-joint-trajectory-controller
  

ROS Melodic install

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt update

sudo apt upgrade

sudo apt install ros-melodic-desktop-full

sudo apt-get install python-pip

sudo pip install -U rosdep

sudo rosdep init

sudo rosdep update

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

cd ~

mkdir -p catkin_ws/src
cd catkin_ws
catkin_make

한글 키보드 설치

sudo apt-get install fcitx-hangul

System Settings -> Language Support
Language pack 설치
‘Keyboard input method system' -> fcitx로 변경
reboot
System Settings-> Keyboard -> Shortcuts ->Typing
(Switch to next source, Switch to previous source, Alternative Characters Key)-> Disabled로 설정
Compose Key -> Right Alt로 변경
Switch to next source-> Multikey

fcitx 설정

fcitx → Configure Current Input Method 선택
Only Show Current Language 체크 버튼 해제 -> + 버튼 -> Hangul 추가
Global Config 탭 Trigger Input Method -> Multikey
Extra key for trigger input method-> Disabled

18.04 한글키보드

https://gabii.tistory.com/entry/Ubuntu-1804-LTS-%ED%95%9C%EA%B8%80-%EC%84%A4%EC%B9%98-%EB%B0%8F-%EC%84%A4%EC%A0%95

18.04 한글 키

https://hanmaruj.tistory.com/6

4. CUDA 설치

https://developer.nvidia.com/cuda-10.0-download-archive 에서 Ubuntu 16.04의 Cuda 설치파일 다운

https://developer.nvidia.com/cuda-10.1-download-archive-base?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu&target_version=1804&target_type=deblocal

sudo apt update sudo add-apt-repository ppa:graphics-driverssudo apt-key adv –fetch-keys http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pubsudo bash -c ‘echo "deb http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64 /" > /etc/apt/sources.list.d/cuda.list'sudo bash -c ‘echo "deb http://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64 /" > /etc/apt/sources.list.d/cuda_learn.list'

sudo apt update sudo apt install cuda-10-1

sudo init 3

ctrl+f2를 이용해 cui모드 전환

cd /home/user/Downloads
chmod 777 cuda_10.0.130_410.48_linux.run
./cuda_10.0.130_410.48_linux.run
  

설치 중 Nvidia Driver 설치는 No를 하고 다른 사항은 모두 Yes

gedit ~/.bashrc

다음의 내용을 맨 아래에 추가

export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export PATH=/usr/local/cuda/bin:$PATH
  

다시 터미널에서 다음과 같이 입력

source ~/.bashrc
nvcc --version
  

결과가 다음과 같이 나와야한다.

nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2018 NVIDIA Corporation
Built on Sat_Aug_25_21:08:01_CDT_2018
Cuda compilation tools, release 10.0, V10.0.130
  

5. cmake 최신버전 설치

apt-get install libssl-dev
wget https://cmake.org/files/v3.18/cmake-3.18.0.tar.gz
tar -zxvf cmake-3.18.0.tar.gz
cd cmake-3.18.0
./bootstrap
make
make install
  

6.Eigen 설치

mv /usr/include/eigen3/Eigen /usr/include/eigen3/Eigen_backup

install eigen 3.3.9

  wget https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz
  tar xvf eigen-3.3.9.tar.gz
  cd eigen-3.3.9
  make -j16
  make install
  

7. Boost 1.58 버전 설치

ubuntu 16.04에서만 설치.

wget https://sourceforge.net/projects/boost/files/boost/1.58.0/boost_1_58_0.tar.gz
tar -zxvf boost_1_58_0.tar.gz
cd boost_1_58_0
sudo bash bootstrap.sh
./b2
./b2 install
  

8. VTK 8.2 설치

sudo apt-get install libgl1-mesa-dev
sudo apt-get install libxt-dev 
wget https://www.vtk.org/files/release/8.2/VTK-8.2.0.tar.gz
tar -zxvf VTK-8.2.0.tar.gz
cd VTK-8.2.0
mkdir build
cd build
cmake ..
make -j16
make install
  

9. OpenNI2 설치

sudo apt-get install git
git clone https://github.com/occipital/OpenNI2.git
cd OpenNI2
sudo apt-get install g++
sudo apt-get install libusb-1.0-0-dev
sudo apt-get install libudev-dev
sudo apt-get install cmake libx11-dev xorg-dev libglu1-mesa-dev freeglut3-dev libglew1.5 libglew1.5-dev libglu1-mesa libglu1-mesa-dev libgl1-mesa-glx libgl1-mesa-dev libglfw3-dev libglfw3
apt-get install openjdk-8-jre
apt-get install openjdk-8-jdk
sudo apt-get install graphviz

sudo rm /usr/lib/x86_64-linux-gnu/libGL.so
sudo ln -s /usr/lib/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so

sudo rm -r /usr/lib/x86_64-linux-gnu/libEGL.so
sudo ln -s /usr/lib/x86_64-linux-gnu/libEGL.so.1 /usr/lib/x86_64-linux-gnu/libEGL.so

make -j16

sudo ln -s $PWD/Bin/x64-Release/libOpenNI2.so /usr/local/lib/
sudo ln -s $PWD/Bin/x64-Release/OpenNI2/ /usr/local/lib/ 
sudo ln -s $PWD/Include /usr/local/include/OpenNI2
ldconfig
cd Bin/x64-Release/
./SimpleRead
  

10. PCL 1.9.1 설치

sudo apt-get install libeigen3-dev
apt-get install libflann-dev

sudo apt-get install g++ cmake cmake-gui doxygen mpi-default-dev openmpi-bin openmpi-common libeigen3-dev libboost-all-dev libqhull* libusb-dev libgtest-dev git-core freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev graphviz mono-complete qt-sdk libeigen3-dev
sudo apt install libglew-dev
sudo apt-get install libsqlite3-0 libpcap0.8  
sudo apt-get install libpcap-dev

wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.9.1.tar.gz
tar xvf pcl-1.9.1.tar.gz

cd pcl-pcl-1.9.1
mkdir build
cd build
cmake ..
make -j16
make install
  

주의) cmake-gui를 이용하여 with openni2를 설정해서 build해야 gpu-voxel 설치시 openni-grubber.h 오류가 발생하지 않는다.

11. OROCOS_KDL install( if you want)

git clone https://github.com/orocos/orocos_kinematics_dynamics.git
cd  orocos_kinematics_dynamics
mkdir build
cd build
cmake ..
make -j16
make install

  

12. GPU-VOXELS 설치

apt-get install cmake-qt-gui
apt-get install libglew-dev
apt-get install libglm-dev
sudo apt-get install qt5-default
sudo rm /usr/lib/x86_64-linux-gnu/libGL.so
sudo ln -s /usr/lib/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so
  

Ubuntu 16.04

git clone https://github.com/fzi-forschungszentrum-informatik/gpu-voxels.git

Ubuntu 18.04

git clone https://github.com/fzi-forschungszentrum-informatik/gpu-voxels.git

cd gpu-voxels/
mkdir build
cd build/
cmake ..
cmake-gui ..
  

kdl_parser_DIR = /opt/ros/kinetic/share/kdl_parser/cmake

orocos_kdl_DIR = /opt/ros/kinetic/share/orocos_kdl

ENABLE_CUDA에 체크되어있는지 확인

GLM_INCLUDE_DIR이 설정되어 있는지 확인

export GPU_VOXELS_MODEL_PATH=/home/sung/workspace/gpu-voxels/packages/gpu_voxels/models/

  

13. 추가 명령어

 ./urdf_loader_ros_listener -r -135 -p 0 -y 90
  ./distance_ros_demo-r -135 -p 0 -y 90

13. installation guides

https://github.com/roboticslab-uc3m/installation-guides

librealsense install

16.04

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://<proxy>:<port>"
  

Ubuntu 16 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
  

Ubuntu 18 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u
  

sudo apt-get install librealsense2 librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg

  

git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build
cd build 
cmake ..
make -j16
make install
  

sudo apt-get install ros-kinetic-ddynamic-reconfigure

cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
cd ../../
catkin_make 
  

Azure Kinect install

curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -

sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod

sudo apt-get update

sudo apt install k4a-tools

sudo apt install libk4a1.4

sudo apt install libk4a1.4-dev

cd ~/catkin_ws/src

git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git

cd ../

catkin_make

indy-ros

apt-get install ros-kinetic-industrial-robot-client
cd ~/catkin_ws/src && git clone -b release-2.3 https://github.com/neuromeka-robotics/indy-ros
cd ~/catkin_ws/src && git clone https://github.com/neuromeka-robotics/indy-ros-examples
cd ~/catkin_ws
catkin_make
  

ros start

roslaunch indy_driver_py indy7_moveit_dcp.launch robot_ip:=192.168.0.7 robot_name:=NRMK-Indy7
  

 roslaunch realsense2_camera demo_pointcloud.launch

https://ropiens.tistory.com/30