unnamed.txt

# pcl 安装
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
# sudo apt-get install libvtk7-jni
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install libpcap-dev

In 
+,download source code(tar.gz) and tar it
cd pcl-pcl-1.8.1
mkdir build
cd build
cmake ..
make -j4
sudo make install


# fci 安装
sudo apt install git
git clone --recursive https://github.com/frankaemika/libfranka
cd libfranka
git checkout 0.7.1
git submodule update

sudo apt install build-essential cmake git libpoco-dev libeigen3-dev
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .
sudo make install

# pybind11
git clone https://github.com/pybind/pybind11.git
cd pybind11
mkdir build
cd build 
cmake ..
make -j4
sudo make install


# franka driver
cd /home/doyle/Me336/ME336-2021Spring/deepclaw/driver/arms/franka
mkdir build
cd build
cmake ..