rxdu / libxmotion

A lightweight mobile robot motion planning and control library

xMotion Library

This repository contains a collection of software packages for mobile robot motion planning and motion control. At the moment, this library is mainly used for study, research and other experimental purposes. It is not yet ready for production.

Many of the components were initially created and maintained in a few other repositories, such as librav, imtoolkit. As the number of repositories and the size of my code base keep growing, I find it more and more challenging to keep the code up-to-date and ready for use. So I decide to gradually port and update relevant code from those repositories and put them here at one place for convenience of use and ease of maintenance.

Repository structure

Folder	Description
cmake	cmake configuration
data	map, results, logs
docs	documentation
src	C++ code
python	Python code
extern	external libraries
scripts	bash scripts

Build and run

Compiler Requirements

• C++11

Install dependencies

$ sudo apt-get install -y libboost-all-dev libeigen3-dev libgsl-dev libtbb-dev libopencv-dev \
    libgl1-mesa-dev libglfw3-dev libcairo2-dev libasio-dev libyaml-cpp-dev libncurses-dev libevdev-dev 

Compile code

$ mkdir build
$ cmake ..
$ make -j8

Note: If you get any building issues, please refer to the CI configuration ".github/workflows/cmake.yml" for the current build steps.

Logging configurations

• XLOG_LEVEL: 0 - 6, 0: TRACE, 1: DEBUG, 2: INFO, 3: WARN, 4: ERROR, 5: FATAL, 6: OFF
• XLOG_ENABLE_LOGFILE: 0 or 1
• XLOG_FOLDER: folder to store log files, default folder: ~/.xmotion/log

libxmotion's Issues

What is the reason for this? “fatal error: cvdraw/cvdraw.hpp: ”