LCM使用

最新推荐文章于 2024-03-14 09:46:41 发布

yuyuelongfly

最新推荐文章于 2024-03-14 09:46:41 发布

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分类专栏： Ubuntu基础文章标签： lcm

本文链接：https://blog.csdn.net/Cxiazaiyu/article/details/96046536

一、概述

LCM是进行信息收发的工具。

“LCM is a set of libraries and tools for message passing and data marshalling, targeted at real-time systems where high-bandwidth and low latency are critical. It provides a publish/subscribe message passing model and automatic marshalling/unmarshalling code generation with bindings for applications in a variety of programming languages.”

详见：http://lcm-proj.github.io/

二、安装

1、下载lcm源码（根据自己的需求选择版本，这里以lcm-1.3.0为例）

https://github.com/lcm-proj/lcm/releases

2、安装到指定路径：

sh ./configure --prefix=/home/your_login/Software/lcm-1.3.0/local #若不加--prefix，则安装到系统默认路径；这里不安装到系统默认路径，方便版本管理
make -j12
make install

备注：

如果想要在terminal中任意路径都可以通过命令行调用lcm-logger或lcm-logplayer工具，则只需要在/usr/bin路径下建立软链接即可。

安装后提示：

Libraries have been installed in:
   /home/your_login/Software/lcm-1.3.0/local/lib/python2.7/site-packages/lcm

If you ever happen to want to link against installed libraries in a given directory, LIBDIR, you must either use libtool, and
specify the full pathname of the library, or use the `-LLIBDIR' flag during linking and do at least one of the following:
   - add LIBDIR to the `LD_LIBRARY_PATH' environment variable during execution
   - add LIBDIR to the `LD_RUN_PATH' environment variable during linking