先锋linux 64位安装包的安装使用

先锋在linux SDK 支持 32 & 64 位 OS。
先锋的linux软件工具如Arcoscf 、mobileEyes，Mapper3 的deb安装包默认在32bit位下。
如果安装上面三个工作需要安装32位的依赖项。
以下是安装成功的使用经验。

首先安装libaria
“Mobilesim_0.7.3+ubuntu12.04+gcc4.6_amd64.deb”
“arnl-base”
“libarnl”
“libsonarl”
其次，Arcoscf Mapper MobileEye 只有32bit的安装

    如果在64位下安装"mobileeyes_2.2.4-1_i386.deb"：需要安装如下依赖项参考：http://robots.mobilerobots.com/wiki/MobileEyes#Ubuntu.2FDebian_Package_Dependencies

   sudo apt-get install libc6:i386 libice6:i386 libsm6:i386 libx11-6:i386 libstdc++5:i386 libxft2:i386 libuuid1:i386

如果遇到错误，sudo apt-get -f install

robot@ubuntu:~$ sudo apt-get -f install
[sudo] password for robot:
Reading package lists... Done
Building dependency tree
Reading state information... Done
Correcting dependencies... Done
The following extra packages will be installed:gcc-4.9-base gcc-4.9-base:i386 libc-dev-bin libc6libc6:i386 libc6-dbg libc6-dev libexpat1 libexpat1:i386libexpat1-dev libfontconfig1:i386 libfreetype6:i386 libgcc1libgcc1:i386 libice6:i386 libpng12-0:i386 libsm6:i386libstdc++5:i386 libuuid1:i386 libx11-6:i386 libxau6:i386libxcb1:i386 libxcursor1:i386 libxdmcp6:i386 libxext6:i386libxfixes3:i386 libxft2:i386 libxrandr2:i386libxrender1:i386 zlib1g:i386
Suggested packages:glibc-doc glibc-doc:i386 locales:i386
The following NEW packages will be installed:gcc-4.9-base:i386 libc6:i386 libexpat1:i386libfontconfig1:i386 libfreetype6:i386 libgcc1:i386libice6:i386 libpng12-0:i386 libsm6:i386 libstdc++5:i386libuuid1:i386 libx11-6:i386 libxau6:i386 libxcb1:i386libxcursor1:i386 libxdmcp6:i386 libxext6:i386libxfixes3:i386 libxft2:i386 libxrandr2:i386libxrender1:i386 zlib1g:i386
The following packages will be upgraded:gcc-4.9-base libc-dev-bin libc6 libc6-dbg libc6-devlibexpat1 libexpat1-dev libgcc1
8 upgraded, 22 newly installed, 0 to remove and 683 not upgraded.
1 not fully installed or removed.
Need to get 16.2 MB of archives.
After this operation, 16.1 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libc6-dev amd64 2.19-0ubuntu6.13 [1,914 kB]
Get:2 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libc-dev-bin amd64 2.19-0ubuntu6.13 [69.0 kB]
Get:3 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libc6-dbg amd64 2.19-0ubuntu6.13 [3,462 kB]
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main gcc-4.9-base amd64 4.9.3-0ubuntu4 [15.1 kB]
Get:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libgcc1 amd64 1:4.9.3-0ubuntu4 [39.2 kB]
Get:6 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libc6 amd64 2.19-0ubuntu6.13 [4,735 kB]
Get:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main gcc-4.9-base i386 4.9.3-0ubuntu4 [15.1 kB]
Get:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libgcc1 i386 1:4.9.3-0ubuntu4 [48.0 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libc6 i386 2.19-0ubuntu6.13 [4,004 kB]
Get:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libexpat1-dev amd64 2.1.0-4ubuntu1.4 [115 kB]
Get:11 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libexpat1 amd64 2.1.0-4ubuntu1.4 [70.9 kB]
Get:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libexpat1 i386 2.1.0-4ubuntu1.4 [71.4 kB]
Get:13 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main zlib1g i386 1:1.2.8.dfsg-1ubuntu1 [57.5 kB]
Get:14 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libpng12-0 i386 1.2.50-1ubuntu2.14.04.2 [119 kB]
Get:15 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libfreetype6 i386 2.5.2-1ubuntu2.8 [299 kB]
Get:16 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libfontconfig1 i386 2.11.0-0ubuntu4.2 [124 kB]
Get:17 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libice6 i386 2:1.0.8-2 [45.9 kB]
Get:18 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libuuid1 i386 2.20.1-5.1ubuntu20.9 [11.4 kB]
Get:19 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libsm6 i386 2:1.2.1-2 [17.3 kB]
Get:20 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/universe libstdc++5 i386 1:3.3.6-25ubuntu4 [259 kB]
Get:21 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libxau6 i386 1:1.0.8-1 [8,352 B]
Get:22 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libxdmcp6 i386 1:1.1.1-1 [13.1 kB]
Get:23 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libxcb1 i386 1.10-2ubuntu1 [40.6 kB]
Get:24 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libx11-6 i386 2:1.6.2-1ubuntu2 [557 kB]
Get:25 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libxfixes3 i386 1:5.0.1-1ubuntu1.1 [10.1 kB]
Get:26 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libxrender1 i386 1:0.9.8-1build0.14.04.1 [17.5 kB]
Get:27 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libxcursor1 i386 1:1.1.14-1 [22.8 kB]
Get:28 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libxext6 i386 2:1.3.2-1ubuntu0.0.14.04.1 [28.5 kB]
Get:29 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty/main libxft2 i386 2.3.1-2 [35.6 kB]
Get:30 http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ trusty-updates/main libxrandr2 i386 2:1.5.0-1~trusty1 [17.0 kB]
Fetched 16.2 MB in 14s (1,088 kB/s)
Preconfiguring packages ...
(Reading database ... 241621 files and directories currently installed.)
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Setting up libgcc1:amd64 (1:4.9.3-0ubuntu4) ...
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(Reading database ... 241931 files and directories currently installed.)
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Selecting previously unselected package libxdmcp6:i386.
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Unpacking libxrender1:i386 (1:0.9.8-1build0.14.04.1) ...
Selecting previously unselected package libxcursor1:i386.
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Unpacking libxcursor1:i386 (1:1.1.14-1) ...
Selecting previously unselected package libxext6:i386.
Preparing to unpack .../libxext6_2%3a1.3.2-1ubuntu0.0.14.04.1_i386.deb ...
Unpacking libxext6:i386 (2:1.3.2-1ubuntu0.0.14.04.1) ...
Selecting previously unselected package libxft2:i386.
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Unpacking libxft2:i386 (2.3.1-2) ...
Selecting previously unselected package libxrandr2:i386.
Preparing to unpack .../libxrandr2_2%3a1.5.0-1~trusty1_i386.deb ...
Unpacking libxrandr2:i386 (2:1.5.0-1~trusty1) ...
Processing triggers for doc-base (0.10.5) ...
Processing 1 changed doc-base file...
Setting up libc-dev-bin (2.19-0ubuntu6.13) ...
Setting up libc6-dev:amd64 (2.19-0ubuntu6.13) ...
Setting up libc6-dbg:amd64 (2.19-0ubuntu6.13) ...
Setting up libexpat1:amd64 (2.1.0-4ubuntu1.4) ...
Setting up libexpat1:i386 (2.1.0-4ubuntu1.4) ...
Setting up libexpat1-dev:amd64 (2.1.0-4ubuntu1.4) ...
Setting up zlib1g:i386 (1:1.2.8.dfsg-1ubuntu1) ...
Setting up libpng12-0:i386 (1.2.50-1ubuntu2.14.04.2) ...
Setting up libfreetype6:i386 (2.5.2-1ubuntu2.8) ...
Setting up libfontconfig1:i386 (2.11.0-0ubuntu4.2) ...
Setting up libice6:i386 (2:1.0.8-2) ...
Setting up libuuid1:i386 (2.20.1-5.1ubuntu20.9) ...
Setting up libsm6:i386 (2:1.2.1-2) ...
Setting up libstdc++5:i386 (1:3.3.6-25ubuntu4) ...
Setting up libxau6:i386 (1:1.0.8-1) ...
Setting up libxdmcp6:i386 (1:1.1.1-1) ...
Setting up libxcb1:i386 (1.10-2ubuntu1) ...
Setting up libx11-6:i386 (2:1.6.2-1ubuntu2) ...
Setting up libxfixes3:i386 (1:5.0.1-1ubuntu1.1) ...
Setting up libxrender1:i386 (1:0.9.8-1build0.14.04.1) ...
Setting up libxcursor1:i386 (1:1.1.14-1) ...
Setting up libxext6:i386 (2:1.3.2-1ubuntu0.0.14.04.1) ...
Setting up libxft2:i386 (2.3.1-2) ...
Setting up libxrandr2:i386 (2:1.5.0-1~trusty1) ...
Setting up mobileeyes (2.2.4-1) ...

安装mapper3
sudo dpkg -i mobileeyes_2.2.4-1_i386.deb
如果如下报错：

Selecting previously unselected package mapper3.
(Reading database ... 241977 files and directories currently installed.)
Preparing to unpack mapper3_2.2.5-1_i386.deb ...
Unpacking mapper3 (2.2.5-1) ...
dpkg: dependency problems prevent configuration of mapper3:mapper3 depends on libjpeg62.dpkg: error processing package mapper3 (--install):dependency problems - leaving unconfigured
Processing triggers for gnome-menus (3.10.1-0ubuntu2) ...
Processing triggers for desktop-file-utils (0.22-1ubuntu1) ...
Processing triggers for bamfdaemon (0.5.1+14.04.20140409-0ubuntu1) ...
Rebuilding /usr/share/applications/bamf-2.index...
Processing triggers for mime-support (3.54ubuntu1) ...
Errors were encountered while processing:mapper3

            # sudo apt-get -f install

即可。
安装路径在/usr/local/
(1)demo检测
cd /usr/local/MobileSim/
./MobileSim

cd /usr/local/Aria/examples/
./demo
（2）定位导航检测
cd /usr/local/MobileSim/
./MobileSim

cd /usr/local/Arnl
./arnlSever

cd /usr/local/MobileEye/bin
./MobileEyes

Robot Servers:输入127.0.0.1或者localhost或者同局域网下机器人电脑的ip

貌似MobileEyes->tool->robotconfiguration 不能导入地图；
插入地图的方法是：

./arnlServer -map columbia.map

再进行地图内初始化机器人位置。
MobileEyes->tool->robottool->localization to point

编译：
(1)makefill
参考/usr/local/Aria/example/makefill
(2)g++
When compiling an ARIA-enabled program under Linux using g++ on the
command line you need to specify additional options to ensure that the appropriate links take place. An example command line follows

g++ -Wall -o OutputFile -lAria -ldl -lpthread -L/usr/local/Aria/lib
-I/usr/local/Aria/include InputFile.cpp

In the example command line the program is compiled using the following options: the “Wall” option provides useful warnings about potential
coding problems; the “o OutputFile” specifles the output executable name;
the “lAria” specifles that the program will require the ARIA library; the “ldl”
and “lpthread” arguments specify additional libraries required by ARIA; the
“L/usr/local/Aria/lib” specifles the standard location of the ARIA library;
the “I/usr/local/Aria/include” specifles the standard location of the ARIA
headers; the flnal argument specifles the main input flle for the project

先锋的工控或者用户笔记本安装libaria后发现无法运行程序。最大的原因是没有权限。授权如下：
笔记本端口号ttyUSB0,自带工控机端口号ttyS0

sudo usermod -a -G dialout $USER    //将你的注册用户加入“dialout”群组
sudo chmod a+rw /dev/ttyUSB0        //给端口读写权限
sudo chmod a+rw /dev/ttyS0          //上同
或者sudo ./demo
或者sudo su                         //切换到root

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