MSYS2 5：Udacity Selt-Driving Car ND 环境配置

博客转载自：https://medium.com/@fzubair/carnd-term2-gcc-setup-on-windows-287e1fd36845

2018/6/2 — mingw32/cmake doesn’t work in the latest msys2. Have added step 7 to use “cmake” installed from cmake.org instead

1. Download latest msys2 installer from https://www.msys2.org/ (orjust download this version http://repo.msys2.org/distrib/x86_64/msys2-x86_64-20180531.exe)
2. Run the installer, keep c:msys64 as default, when it finishes, choose “Run MSYS now”

3. When the command prompt window opens type:

   pacman -Syu　　//更新系统
   

   

   A message will appear to close the terminal window. Close the window. (it might take long to close, and you might even have to kill it)

   Note: Depending on the version you download from msys2, it might say everything is up to date, just continue.

   3. Change home location by opening c:msys64etc sswitch.conf in any editor and change db_home to:

   db_home: windows desc //将home定位到windows的home,不修改则在/home/username

   4. Open MSYS2 MinGW 32bit and this time write:

4. 

 pacman -Su　　//

　　

Note: Depending on the version you downloaded, it might say everything is up to date, so you can just continue. 可能下载速度很慢，可以通过更换源解决，方案参考 MSYS2 更换国内源

5.Download gcc-5.4

http://repo.msys2.org/mingw/i686/mingw-w64-i686-gcc-libs-5.4.0-1-any.pkg.tar.xz

http://repo.msys2.org/mingw/i686/mingw-w64-i686-gcc-libgfortran-5.4.0-1-any.pkg.tar.xz

http://repo.msys2.org/mingw/i686/mingw-w64-i686-gcc-5.4.0-1-any.pkg.tar.xz

http://repo.msys2.org/mingw/i686/mingw-w64-i686-gcc-fortran-5.4.0-1-any.pkg.tar.xz

http://repo.msys2.org/mingw/i686/mingw-w64-i686-gdb-7.11.1-4-any.pkg.tar.xz

或者使用以命令安装Toolchain

pacman -Syu mingw-w64-i686-toolchain

6.Install gcc / other packages:

$ cd ~/Downloads
$ pacman -U mingw-w64-i686-gcc-libgfortran-5.4.0-1-any.pkg.tar.xz mingw-w64-i686-gcc-libs-5.4.0-1-any.pkg.tar.xz mingw-w64-i686-gcc-5.4.0-1-any.pkg.tar.xz 
mingw-w64-i686-gdb-7.11.1-4-any.pkg.tar.xz mingw-w64-i686-gcc-fortran-5.4.0-1-any.pkg.tar.xz
$ pacman -S mingw-w64-i686-make git make tar unzip patch automake autoconf mingw-w64-i686-python2 mingw-w64-i686-python2-matplotlib mingw-w64-i686-python2-pip

Confirm gcc is working:　

g++ --version

7. Make sure you have cmake installed. If not, install cmake from https://cmake.org (or just install this version https://cmake.org/files/v3.11/cmake-3.11.3-win64-x64.msi)

Projects

Build uWebSockets for Mingw.

git clone https://github.com/drganjoo/uWebSockets.git
cd uWebSockets
git checkout carnd-mingw
mkdir build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make
make install

1. ExtendedEKF

git clone  https://github.com/udacity/CarND-Extended-Kalman-Filter-Project.git

Download the changed CMakeLists.txt or you can make the following changes to CMakeLists.txt file yourself:

Towards the bottom of the file add:

....
target_link_libraries(ExtendedKF z ssl uv uWS)
if (MINGW)
    target_link_libraries(ExtendedKF ws2_32)
endif()

Changed main.cpp to make it work on Windows:

Line #175, currently says:

if (h.listen(port))

Change this to (this change will work on Linux / MacOS as well, so you can submit your code with this change in it):

if (h.listen("127.0.0.1", port))

Build project:

mkdir build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make

　　

If you want to run it, you need to provide return values in tools.cpp otherwise the program will crash. Open src/tools.cpp and write the following for time being:

VectorXd Tools::CalculateRMSE(const vector<VectorXd> &estimations,
	const vector<VectorXd> &ground_truth) {
	/**
	TODO:
	* Calculate the RMSE here.
	*/
VectorXd temp(4);
	temp << 1, 2, 3, 4;
	return temp;
}
MatrixXd Tools::CalculateJacobian(const VectorXd& x_state) {
	/**
	TODO:
	* Calculate a Jacobian here.
	*/
MatrixXd temp(3,4);
	return temp;
}

Run the simulator and you should be able to see the 1,2,3,4 being sent to the simulator:

　　2.Unscented Kalman Filter Project

git clone https://github.com/udacity/CarND-Unscented-Kalman-Filter-Project.git

Download the changed CMakeLists.txt or you can make the following changes to CMakeLists.txt file yourself:

Towards the bottom of the file add:

....
target_link_libraries(UnscentedKF z ssl uv uWS)
if (MINGW)
    target_link_libraries(UnscentedKF ws2_32)
endif()

Changed main.cpp to make it work on Windows:

Line #178, currently says:

if (h.listen(port))

Change this to (this works on Linux / MacOS as well):

if (h.listen(“127.0.0.1”, port))

Build project:

mkdir build
cd build
cmake -G "MSYS Makefiles" ..
make

3. CarND-MPC-Quizes:

Open MinGW32 Shell (Start->MSYS MinGW32)

$ git clone https://github.com/udacity/CarND-MPC-Quizzes.git
$ cd CarND-MPC-Quizzes
$ wget https://www.coin-or.org/download/source/Ipopt/Ipopt-3.12.8.zip
$ unzip Ipopt-3.12.8.zip

Install ipopt from the shell:

$ cd Ipopt-3.12.8/
$ ../install_ipopt.sh .
$ cd ..

Install cppad:

$ wget https://www.coin-or.org/download/source/CppAD/cppad-20180000.0.gpl.tgz
$ tar xvzf cppad-20180000.0.gpl.tgz
$ cd cppad-20180000.0
$ mkdir build && cd build
$ "C:Program FilesCMakeincmake" -G "MSYS Makefiles" -D cppad_prefix=/c/msys64/usr/local ..
$ make check

One test will fail, but you can ignore it:

$ make install
$ cd ../..

 3a) CarND-MPC-Quizzes/global_kinematic_model

Add on top of main.cpp:

// In this quiz you'll implement the global kinematic model.
#define _USE_MATH_DEFINES
#include <math.h>
....

To build:

make build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make

3b) CarND-MPC-Quizes/mpc_to_line

Change CMakeLists.txt (or Download)

if(MINGW)
set(CMAKE_CXX_USE_RESPONSE_FILE_FOR_INCLUDES 0)
endif()
add_executable(mpc ${sources})
if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
target_link_libraries(mpc ipopt python2.7)
elseif (MINGW)
target_link_libraries(mpc ipopt coinasl coinblas coinasl coinmumps coinlapack gfortran ws2_32 python2.7)
else()
target_link_libraries(mpc ipopt python27 )
endif()

Build:

mkdir build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make
./mpc

If you get an error regarding python, set the following environment variables and then run mpc.exe again

$ export PYTHONPATH=/mingw32/bin:/mingw32/lib/python2.7/site-packages:/mingw32/lib/python2.7/lib-dynload:/mingw32/lib/python2.7
$ export PYTHONHOME=/mingw32/bin

3c) CarND-MPC-Quizes/polyfit

mkdir build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make

4) CarND-MPC-Project

git clone https://github.com/udacity/CarND-MPC-Project.git

Towards the bottom, make following changes to CMakeLists.txt (or Download):

if(MINGW)
set(CMAKE_CXX_USE_RESPONSE_FILE_FOR_INCLUDES 0)
set(CMAKE_CXX_USE_RESPONSE_FILE_FOR_LIBRARIES 0)
endif()
target_link_libraries(mpc ipopt z ssl uv uWS)
if (MINGW)
    target_link_libraries(mpc ipopt coinasl coinblas coinasl coinmumps coinlapack gfortran ws2_32)
endif()

Changed main.cpp to make it work on Windows:

Line #1: Add the following:

#define _USE_MATH_DEFINES
#include <math>
...

Line #179, currently says:

if (h.listen(port))

Change this to (this works on Linux / MacOS as well):

if (h.listen(“127.0.0.1”, port))

Build project:

mkdir build
cd build
"C:Program FilesCMakeincmake" -G "MSYS Makefiles" ..
make

CLion Setup

Configure->Settings, under Build, Execution, Deployment set MinGW folder:

You can open project using ‘Import Project from Sources’ and choosing the root folder of the project e.g. ‘CarND-Extended-Kalman-Filter-Project’. Just choose Open Project instead of ‘Overwrite CMakeLists.txt’

If you want to debug, then you can either:

1. Set the working directory to c:/msys64/mingw32/bin. In CLion IDE, choose Run →Edit Configuration

2. OR you can add c:/msys64/ming32/bin to System Path using environment variables