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SPQR Team Code used in RoboCup 2023 based on B-Human 2021 Code Release

Installation

Supported distros:

  • Ubuntu 20.04, 22.04
  • Linux Mint 18.x / 20.x

Install required dependencies

Open a terminal Ctrl+Alt+t (usually) and type the followings commands:

  • $ sudo apt install clang cmake git graphviz libasound-dev libglew-dev libqt5opengl5-dev libqt5svg5-dev lld llvm net-tools ninja-build pigz qtbase5-dev rsync wish xterm xxd

Install dav1d

  • Ubuntu 21.10 or higher (only with APT): $ sudo apt install libdav1d-dev

  • otherwise, you'll have to compile and install from source. The repo is found at https://code.videolan.org/videolan/dav1d

    1. Clone the repo: git clone https://code.videolan.org/videolan/dav1d.git
    2. Enter the new folder: $ cd dav1d
    3. Make a build directory: $ mkdir build && cd build
    4. Configure meson: $ meson ..
    5. Compile: $ ninja
    6. Install: $ sudo ninja install
    7. Trick your system into believing you have the correct version (1 of 2): $ cd /usr/local/lib/x86_64-linux-gnu
    8. (2 of 2): $ sudo ln --symbolic libdav1d.so.6.7.0 libdav1d.so.4
    9. Close this terminal or use cd to change directory again, whatever you do don't remain in this library path by accident.

Configure GitHub :

  • Install git - $ sudo apt-get install git git-core git-gui git-doc
  • Install gitg - $ sudo apt-get install gitg
  • Set up git you can do that by reading this page (Attention: "Your Name here" means "Nome Cognome")
  • Colorize git: $ git config --global color.status auto

Important: Update and Upgrade your OS

  • $ sudo apt-get update
  • $ sudo apt-get upgrade
  • $ sudo reboot

Clone the repo

  • Create a folder called RoboCup in your home folder - $ mkdir RoboCup
  • Enter in the RoboCup folder - $ cd RoboCup
  • Execute the command to clone - $ git clone https://github.com/SPQRTeam/spqr2023.git

Install OpenCV 3.4

  • Download source of OpenCV
wget https://github.com/opencv/opencv/archive/3.4.1.zip
  • Unzip the files
unzip 3.4.1.zip
  • Move into OpenCV directory
cd opencv-3.4.1
  • Create the build directory
mkdir build && cd build
  • Generate the make file
cmake -DWITH_QT=OFF -DWITH_OPENGL=OFF -DBUILD_SHARED_LIBS=ON -DFORCE_VTK=ON -DWITH_TBB=ON -DWITH_GDAL=ON -DWITH_XINE=ON -DWITH_CUDA=OFF -DQT_NO_VERSION_TAGGING=ON -DWITH_PNG=OFF -DWITH_TIFF=OFF -DWITH_WEBP=OFF -DWITH_OPENJPEG=OFF -DWITH_JASPER=OFF -DWITH_OPENEXR=OFF -DBUILD_TBB=ON ..

  • Open opencv-3.4.1/modules/python/src2/cv2.cpp. Move to line 889 and replace char* str = PyString_AsString(obj); with const char* str = PyString_AsString(obj);

  • Compile

make -j#num of core of your cpu
  • Install OpenCV
sudo make install

and then

sudo ldconfig

Building the code

Generate

Whenever a file is added/removed/modified, we need to regenerate the CMakeLists file with:

NO_CLION=True path/to/repo/root/Make/Linux/generate

Compile

path/to/repo/root/Make/Linux/compile

Bash script

It might be beneficial to create a bash script that does this automatically:

#! /bin/bash

cd spqr2023    # Go to repo root. REPLACE WITH YOUR OWN PATH.

touch Make/CMake/Nao.cmake    # notice new symbols in new files
NO_CLION=true Make/Linux/generate     # notice new files
Make/Linux/compile     # compile!

You could even want to associate this command with a bash alias to speed things up.


## Possible issues (Ubuntu)

Here's a list of known issues and errors and their respective solutions:

Generating

  • Error: CMake Error: CMake was unable to find a build program corresponding to "Ninja". CMAKE_MAKE_PROGRAM is not set. You probably need to select a different build tool.

    Solution:

    1. Install ninja-build
    sudo apt-get install ninja-build

Compiling

  • Error: clang: error: invalid linker name in argument '-fuse-ld=lld'

    Solution:

    1. Install llvm
    sudo apt-get install llvm
    1. Export its path to

  • GCC version error: if you get an error that looks like a compiler version error (such as "no member named 'strlen' in namespace 'std'")

    The framework requires a GCC version <= 11. You can check what GCC version clang is using by typing

    clang -v

    Pay attention to the line

    Selected GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/XX

    Where instead of XX there will be the selected GCC version.