MIT Cheetah-Software在ubuntu20、ubuntu21和ubuntu22中编译通过的方法-优快云博客

本文链接：https://blog.youkuaiyun.com/plax0850/article/details/125375572

MIT Cheetah-Software在Ubuntu20、Ubuntu21和ubuntu22中的环境搭建请参考优快云，但在编译时会报错，需要修改两处内容：

1、修改MIT Cheetah-Software项目中的顶级CMakeList.txt

if(MINI_CHEETAH_BUILD)
    SET (THIS_COM "../" )
    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
        ${CMAKE_BINARY_DIR}/Configuration.h)
    set(CMAKE_CXX_FLAGS "-O3 -no-pie -ggdb -Wall \
        -Wextra -Wcast-align -Wdisabled-optimization -Wformat=2 \
        -Winit-self -Wmissing-include-dirs -Woverloaded-virtual \
        -Wshadow -Wsign-promo -Werror -Wno-error=stringop-truncation")
    set(CMAKE_C_FLAGS "-O3  -ggdb -std=gnu99 -I.")
    message("**** Mini-Cheetah build enabled ****")
else(MINI_CHEETAH_BUILD)
    SET (THIS_COM "${PROJECT_SOURCE_DIR}/" )
    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake
        ${CMAKE_BINARY_DIR}/Configuration.h)

    if(CMAKE_SYSTEM_NAME MATCHES Linux)
        set(CMAKE_CXX_FLAGS "-O3 -no-pie -march=native -ggdb -Wall \
            -Wextra -Wcast-align -Wdisabled-optimization -Wformat=2 \
            -Winit-self -Wmissing-include-dirs -Woverloaded-virtual \
            -Wshadow -Wsign-promo -Werror -Wno-error=stringop-truncation")
    elseif(APPLE)
        set(CMAKE_CXX_FLAGS "-O3 -march=native -ggdb -Wall \
            -Wextra -Wcast-align -Wdisabled-optimization -Wformat=2 \
            -Winit-self -Wmissing-include-dirs -Woverloaded-virtual \
            -Wshadow -Wsign-promo")
        include_directories("/usr/local/include/")   # lcm includes
    endif()

    set(CMAKE_C_FLAGS "-O3  -ggdb  -march=native -std=gnu99 -I.")
    message("**** Mini-Cheetah build disabled ****")
endif(MINI_CHEETAH_BUILD)

上面代码中添加了两处-Wno-error=stringop-truncation。

2、修改robot/src/rt/rt_serial.cpp

#ifdef linux

#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#define termios asmtermios
#include <asm/termios.h>
#undef termios

#include <termios.h>
#include <math.h>
#include <pthread.h>
#if 0
#include <stropts.h>
#else
//#include <sys/ioctl.h>
extern "C"
{
    extern int ioctl (int __fd, unsigned long int __request, ...) __THROW;
}
#endif

在ubuntu20、ubuntu21和ubuntu22中不存在头文件stropts.h。因此需要将#include <stropts.h>替换成extern "C" int ioctl (int __fd, unsigned long int __request, ...) __THROW;