Ubuntu 编译安装 Libbarrett

1 系统及软件版本

libbarrett 3.0.x readme ：

This version of Libbarrett works with a non-real-time kernel (a low-latency Ubuntu 20.04 kernel) and should only be used when a hard real-time guarantee is not critical for your application.

2 编译安装 libbarrett

2.1 克隆仓库

cd && git clone https://git.barrett.com/software/libbarrett

2.2 安装依赖

cd ~/libbarrett/scripts && ~/libbarrett/scripts/install_dependencies.sh

这个过程中脚本会自动下载安装 lowlatency 内核等依赖，需要保证良好网络链接

脚本结束后重启进入系统，查看内核版本：

uname -r

输出内容应该以 lowlatency 结尾

2.3 安装 PCAN 驱动

sh ~/libbarrett/scripts/install_pcan.sh

PCAN-USB 不需要执行下面内容

For PCAN-ISA only, manually configure the driver (not plug-and-play):

bash

sudo tee /etc/modprobe.d/pcan.conf <<EOF
options pcan type=isa,isa io=0x300,0x320 irq=7,5
install pcan modprobe --ignore-install pcan
EOF
echo 'pcan' |sudo tee -a /etc/modules-load.d/modules.conf

脚本执行完毕重启进入系统，检查 PCAN 驱动情况

执行 cat /proc/pcan 应当有类似以下有关 “can0” 的输出：

*------------- PEAK-System CAN interfaces (www.peak-system.com) -------------
*------------- Release_20210119_n (8.11.0) Mar  7 2024 20:57:07 --------------
*---------- [mod] [isa] [pci] [pec] [dng] [par] [usb] [pcc] [net] -----------
*--------------------- 1 interfaces @ major 238 found -----------------------
*n -type- -ndev- --base-- irq --btr- --read-- --write- --irqs-- -errors- status
32    usb   can0 ffffffff 000 0x001c 00000000 00000000 00000000 00000000 0x0000

2.4 编译安装 libbarrett 驱动

编译

export CC=/usr/bin/clang
export CXX=/usr/bin/clang++
cd ~/libbarrett && cmake .
make -j$(nproc)

安装

sudo make install

2.5 （可选）编译例程

cd ~/libbarrett/examples && cmake .
make -j$(nproc)