装机环境配置笔记

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#ubuntu #linux

于 2023-02-17 16:30:32 首次发布

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本文档详细介绍了ROS环境的安装配置过程，包括Ubuntu系统的安装、ROS的安装与配置、依赖库的安装等。此外，还提供了网络配置、开机自启设置、远程操作方法以及机械臂调试的指导。

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装机过程中需要修改系统中的环境参数以及配置！！

1./etc/udev/rules.d/imu.rules 添加以下内容(需要创建文件)

    # set the udev rule , make the device_port be fixed by imu
    #
    KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{version}==" 2.00", MODE:="0777", SYMLINK+="imu"

2.xiugaiyonghuming

1. 使用root用户权限

sudo su

进入root用户权限。
2. 修改 /etc/passwd用户信息文件

gedit /etc/passwd

找到代表原用户名的那一行，将用户名和后面的用户文件夹目录都修改为新用户名，保存并关闭。
如果没有gedit工具需要先下载gedit，使用其他的文本编辑工具也可以，比如vim。
3. 修改 /etc/shadow用户密码文件

gedit /etc/shadow

找到原用户名对应的地方，修改旧的用户名为新用户名，保存并关闭。
4. 修改 /etc/group用户组文件

gedit /etc/group

这里面会有很多包含旧用户名的组，全部改成新用户名，保存并关闭。
5. 修改用户文件夹目录

这里的文件夹目录是和/etc/passwd中的用户文件夹目录对应的，那里修改了文件夹目录，这里也要修改，如果二者不对应，将无法正常登录。使用以下命令进行修改，比如要将旧的用户名gy，修改为新的用户名rubber，则命令应写为

mv /home/gy /home/rubber

到这一步用户名就修改完成了，重启系统，使用新用户名登录进入。如果登录的时候依然显示的是原来的用户名，可以在图形界面点击右上角的倒三角，点击用户，进入Account Settings界面，在这里将旧用户名改为新用户名即可。

3.将当前用户添加到 ttyS2的组内

rubber@gy-Computer:~$ ls -l /dev/ttyS2
crw-rw---- 1 root dialout 4, 66 4月 13 12:02 /dev/ttyS2

当前组为 dialout 将当前用户rubber添加到dialout

rubber@gy-Computer:~$ sudo usermod -aG dialout rubber

重启用户

查看当前用户是否在组内

rubber@gy-Computer:~$ groups
rubber adm dialout cdrom sudo dip plugdev lpadmin lxd sambashare

3.修改对应的IP修改两个网口的ip对应机械臂和imu在同一个网段

5使用sudo命令时无需输入密码，您可以按照以下步骤进行设置：

打开终端或命令行窗口。

输入以下命令以编辑sudoers文件：

sudo visudo

在打开的文件中，找到以"root ALL=(ALL) ALL"开始的一行。

在该行下面添加以下内容（其中rubber是您的用户名）：

rubber ALL=(ALL) NOPASSWD: ALL

保存文件并退出编辑器。

重新启动终端或命令行窗口。

设置完成后，您在使用sudo命令时将不再需要输入密码。

# 运行环境配置文档（参考使用非必须）

Notion – The all-in-one workspace for your notes, tasks, wikis, and databases.

## 0.配置ros环境

### **0.1.ubuntu系统安装**

插入u盘，开机，按`del`进入BIOS面板，进入`Advanced`下的`CSM Configuration`,更改`CSM Support`选项为`Enabled`,进入`boot`选项，选择无uefi的选项为`boot option1#`，`f4`保存重启，按`shift`，选U盘启动，进入ubuntu系统安装。

### **0.2.ubuntu系统安装配置ros**

(1) 换源

进入fishros一键换源

```bash
$ wget http://fishros.com/install -O fishros && . fishros
```

(2) 安装配置ros

进入fishros一键配置ros

```bash
$ wget http://fishros.com/install -O fishros && . fishros
```

. 修改~/.bashrc 增加路径

source /home/rubber/rubber_tapping_robot/carto_ws/devel_isolated/setup.bash
source /home/rubber/rubber_tapping_robot/rubber_ws/devel/setup.bash
# <<< fishros initialize <<<
LD_LIBRARY_PATH=/home/rubber/rubber_tapping_robot/rubber_ws/devel/lib:/home/rubber/rubber_tapping_robot/carto_ws/devel_isolated/cartographer_rviz/lib:/home/rubber/rubber_tapping_robot/carto_ws/install_isolated/lib:/opt/ros/noetic/lib:/opt/ros/noetic/lib/x86_64-linux-gnu:/home/rubber/rubber_tapping_robot/rubber_ws/src/aubo_robot_rubber/aubo_driver/lib/lib64/aubocontroller:/home/rubber/rubber_tapping_robot/rubber_ws/src/aubo_robot_rubber/aubo_driver/lib/lib64/config:/home/rubber/rubber_tapping_robot/rubber_ws/src/aubo_robot_rubber/aubo_driver/lib/lib64/log4cplus
     
export ENV_ROBOT_TYPE='0001'
export ENV_ROBOT_ID='a002'

## 1.源代码与依赖

### **1.1.获取源码**

通过U盘拷贝整个 rubber_tapping_robot 到家目录下

通过

### 0.5.cartographer安装（3.03D导航版本不需要安装复制包过来的不需要安装cartographer。！！！）

``'''''''

sudo apt-get update
sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow

3.需要通国小鱼 wget http://fishros.com/install -O fishros && . fishros 安装 rosdepc!!!!!!!!!!!!!

rosdepc update
rosdepc install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

4.重新编译abseil(建议一条指令输入一次，不要全复制粘贴

set -o errexit
set -o verbose
cd abseil-cpp
mkdir build
cd build
cmake -G Ninja \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
  ..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl

5.编译（在carto_ws下）

cd ~/rubber_tapping_robot/carto_ws
catkin_make_isolated --install --use-ninja

6.问题

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GMOCK_LIBRARY (ADVANCED)
    linked by target "time_conversion_test" in directory /home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros
    linked by target "configuration_files_test" in directory /home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros
    linked by target "msg_conversion_test" in directory /home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros
    linked by target "metrics_test" in directory /home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros

-- Configuring incomplete, errors occurred!
See also "/home/rubber/rubber_tapping_robot/carto_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/rubber/rubber_tapping_robot/carto_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
FAILED: build.ninja 
/usr/bin/cmake -S/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros -B/home/rubber/rubber_tapping_robot/carto_ws/build_isolated/cartographer_ros
ninja: error: rebuilding 'build.ninja': subcommand failed
<== Failed to process package 'cartographer_ros': 
  Command '['/home/rubber/rubber_tapping_robot/carto_ws/install_isolated/env.sh', 'ninja', 'build.ninja']' returned non-zero exit status 1.

Reproduce this error by running:
==> cd /home/rubber/rubber_tapping_robot/carto_ws/build_isolated/cartographer_ros && /home/rubber/rubber_tapping_robot/carto_ws/install_isolated/env.sh ninja build.ninja

Command failed, exiting.

解决方法

在 Ubuntu 或 Debian 系统上安装 Google Mock：

    安装 Google Test：Google Mock 依赖于 Google Test，因此首先需要安装 Google Test。你可以使用以下命令安装它：

    bash

sudo apt-get update
sudo apt-get install libgtest-dev

编译 Google Test：安装后，你需要编译 Google Test 库：

bash

cd /usr/src/gtest
sudo cmake .
sudo make
sudo cp *.a /usr/lib

安装 Google Mock：在安装了 Google Test 之后，你可以安装 Google Mock。通常，你可以使用以下命令来安装它：

bash

sudo apt-get install libgmock-dev

### 1.2.安装依赖

#### 1.2.1. AprilTag（源码编译）

直接copy或运行命令

```bash
git clone https://github.com/AprilRobotics/apriltag.git
cd apriltag
cmake .
sudo make install
cd ..
sudo rm -rf apriltag
```

#### 1.2.2. Sophus（源码编译）

直接copy或运行命令

```
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
sudo make install
cd ../..
sudo rm -rf Sophus
```

步骤顺利，sudo make install时报错: Sophus/sophus/so2.cpp:32:26:error:lvalue required as left operand of assignment 针对上述报错修改如下:打开Sophus/sophus/so2.cpp修改对应32、33行代码 32 | unit_comples_.real() = 1.; -> unit_comples_.real(1.); 33 | unit_comples_.imag() = 0.; -> unit_comples_.imag(0.);

#### 1.2.3. opencv3.4.5（源码编译）

ubuntu中安装opencv3.4.5

1.opencv的安装

在SSD中需要使用到OPENCV3，那么经过选择安装opencv3.4.5，首先下载opencv3.4.5

打开网址：https://github.com/opencv/opencv/releases?after=4.1.1

选择opencv3.4.5：

选择源代码，tar格式的，右击复制下载链接，使用wget命令下载opencv 源代码，下载之后解压即可

    wget https://github.com/opencv/opencv/archive/3.4.5.tar.gz

解压命令如下：

    tar -xvf 3.4.5.tar.gz

解压之后开始编译opencv安装即可。

下面在编译opencv前需要安装一些依赖，使用下面的命令安装依赖项：

首先安装cmake工具，使用下面的命令安装cmake工具：

  sudo apt-get install cmake

安装好cmake工具之后，安装一下依赖项

sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev

安装完依赖项之后，首先进入opencv的目录下，开始使用cmake命令进行编译

 cd opencv-3.4.5

创建编译目录

  mkdir release && cd release

使用编译命令对opencv3.4.5进行编译

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D WITH_OPENGL=ON ..

完成之后使用make命令进行编译，根据自己cpu选择线程数

    make -j10

在这一步完成之后输入命令：

  sudo make install

至此编译已经完成，接下来添加环境变量：

在位置

sudo gedit /etc/ld.so.conf.d/opencv.conf

文件下创建opencv.conf,在创建好的文件里面添加

  /usr/local/lib

如下图：

同时执行命令使得更改生效：

    sudo ldconfig

完成这些之后配置bash，具体如下：

在文件/etc/bash.bashrc 的后面添加两行：

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

可以借助vim或者winscp实现。之后输入命令

source /etc/bash.bashrc

使得配置生效。并更新数据库：

至此opencv安装完成。

#### 1.2.4. realsense

运行命令```bash

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev librealsense2-dbg ros-noetic-realsense2-camera
sudo apt-get --yes install ros-noetic-diagnostic-updater -y
sudo apt-get install ros-noetic-realsense2-*

sudo apt-get --yes install ros-noetic-ddynamic-reconfigure -y
sudo apt-get --yes install ros-noetic-rgbd-launch
sudo apt install ros-noetic-pcl-ros libeigen3-dev
cd /usr/include
sudo ln -sf eigen3/Eigen Eigen
sudo ln -sf eigen3/unsupported unsupported
sudo apt-get update
sudo apt-get --yes upgrade

```

##安装modbus

sudo apt install libmodbus-dev

###安装雷达SDK

git clone https://github.com/Livox-SDK/Livox-SDK
cd Livox-SDK
mkdir build && cd build
cmake ..
make -j16
sudo make install

git clone https://github.com/Livox-SDK/Livox-SDK2
cd Livox-SDK2
mkdir build && cd build
cmake ..
make -j16
sudo make install

##奥比中光相机依赖安装（删除原有的文件夹，在同一及目录下解压缩同名.zip压缩包

  sudo apt install libgflags-dev ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager \
  ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev \
  ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs libdw-dev

#### 1.2.5. Other dependencies

```bash
$ sudo apt install -y ros-noetic-moveit ros-noetic-moveit-visual-tools ros-noetic-navigation ros-noetic-trac-ik-kinematics-plugin ros-noetic-industrial-core ros-noetic-joy
$ sudo apt install -y build-essential cmake pkg-config libjpeg8-dev libtiff5-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk-3-dev libatlas-base-dev gfortran python2.7-dev ros-noetic-serial
```

### 1.3.auto机械臂包

直接copy或运行代码

```bash
$ wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb
$ sudo dpkg -i libprotobuf9v5_2.6.1-1.3_amd64.deb
```

### 1.4.Visual-Servo

运行代码

```bash
$ wstool update -t src
```

## 2.网络配置

### **2.1.有线网络连接*

静态网址设置

enp1s0:192.168.2.1

enp3s0: 192.168.1.102

### **2.3.机器人网口连接**

一般情况下，右侧网口（第一个有线连接）插机械臂，左侧网口（第二个有线连接）插激光雷达。

## 3.开机自启设置

### 3.1.编写脚本

编写脚本，脚本位置存放在`rubber_tapping_robot/script`中

```shell
/bin/bash
···
···
w$ hile true
do
···
done
```

### **3.2.修改脚本权限**

在脚本存放处打开终端，运行代码
```
chmod +x auto_run.sh
```

### 3.3.添加自启

命令行运行

```bash
$ gnome-session-properties
```

Command部分添加以下命令

```
gnome-terminal -x bash -c '/home/rubber/rubber_tapping_robot/script/autostart.sh;exec bash'
```

## 4.机器人远程操作

### 4.1.VNC

机器人主机安装`x11vnc`与`openssh-server`，远控主机通过deb安装`vncviewer`即可。

机器人主机通过开机自启脚本启动，远程主机运行`vncviewer`并连接机器人IP即可。

### **4.2.VS code-remote ssh插件**

配置时需要主从机连能够接通外网的局域网，以更新server。

### **4.3.远程鱼眼**

使用MJPG-Streamer达到远程观察机器人携带摄像头的用途。

机器人主机安装MJPG-Streamer，并使用remotecam.sh脚本正确启动程序。可能出现/dev/video*对应不上的问题，根据rubber-xcy中的/etc/udev/rules.d/imu.rules中修改相机相应的.rules文件即可解决，保证每次相机连接的都是video0。

远程主机无需额外配置，浏览器地址输入`http://机器人IP:8080`即可

## 5.机械臂调试

### 5.1.调试仿真

实机调试之前先仿真调试，使用`roslaunch visual_servo visual_servo_sim.launch`

修改`aubo_ixx_gazebo_control.launch`

修改`(find aubo_ixx_moveit_config)`

之后运行`roslaunch visual_servo visual_servo_sim.launch`即可。
### 5.2.机械臂标定

除了在示教器以外，还可以在AuboSDK.cpp中修改。

导航问题

1.启动导航报错

ERROR: cannot launch node of type [move_base/move_base]: move_base
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/rubber/rubber_tapping_robot/rubber_ws/src
ROS path [2]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_rviz
ROS path [3]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros
ROS path [4]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros_msgs

解决方法：

sudo apt install ros-noetic-move-base

ERROR: cannot launch node of type [map_server/map_server]: map_server
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/rubber/rubber_tapping_robot/rubber_ws/src
ROS path [2]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_rviz
ROS path [3]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros
ROS path [4]=/home/rubber/rubber_tapping_robot/carto_ws/src/cartographer_ros/cartographer_ros_msgs
ROS path [5]=/opt/ros/noetic/share

解决方法

sudo apt install ros-noetic-map-server

.sudo apt install ros-noetic-robot-pose-ekf

[ERROR] [1684392691.155224726]: "chassis_link" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1684392691.160409645]: link 'imu_link' material 'orange' undefined.
process[landmark_broadcaster-14]: started with pid [4009]
[ INFO] [1684392691.161912122]: lslidar type: c16
process[datatest-15]: started with pid [4017]
[ERROR] [1684392691.192080598]: Unable to open port.
[ INFO] [1684392691.250775610]: output frame: odom
[ INFO] [1684392691.261021295]: Only accepting packets from IP address: 192.168.1.200
[ INFO] [1684392691.261069466]: Opening UDP socket: port 2368
[ INFO] [1684392691.264873838]: Only accepting packets from IP address: 192.168.1.200
[ INFO] [1684392691.264908752]: Opening UDP socket: port 2369
[ INFO] [1684392691.266866106]: return mode: 1
[ INFO] [1684392691.270245406]: base frame: ch[ERROR] [1684392691.155224726]: "chassis_link" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1684392691.160409645]: link 'imu_link' material 'orange' undefined.
process[landmark_broadcaster-14]: started with pid [4009]
[ INFO] [1684392691.161912122]: lslidar type: c16
process[datatest-15]: started with pid [4017]
[ERROR] [1684392691.192080598]: Unable to open port.
[ INFO] [1684392691.250775610]: output frame: odom
[ INFO] [1684392691.261021295]: Only accepting packets from IP address: 192.168.1.200
[ INFO] [1684392691.261069466]: Opening UDP socket: port 2368
[ INFO] [1684392691.264873838]: Only accepting packets from IP address: 192.168.1.200
[ INFO] [1684392691.264908752]: Opening UDP socket: port 2369
[ INFO] [1684392691.266866106]: return mode: 1
[ INFO] [1684392691.270245406]: base frame: chassis_link
[ INFO] [1684392691.278525306]: BASE READY!!!
[ INFO] [1684392691.431160967]: default channel is 8
[imu_sonser_spec-7] process has died [pid 3953, exit code 255, cmd /home/rubber/rubber_tapping_robot/rubber_ws/devel/lib/serial_imu/serial_imu __name:=imu_sonser_spec __log:=/home/rubber/.ros/log/8e02c538-f546-11ed-a249-b9230eb60fa5/imu_sonser_spec-7.log].
log file: /home/rubber/.ros/log/8e02c538-f546-11ed-a249-b9230eb60fa5/imu_sonser_spec-7*.log
assis_link
[ INFO] [1684392691.278525306]: BASE READY!!!
[ INFO] [1684392691.431160967]: default channel is 8
[imu_sonser_spec-7] process has died [pid 3953, exit code 255, cmd /home/rubber/rubber_tapping_robot/rubber_ws/devel/lib/serial_imu/serial_imu __name:=imu_sonser_spec __log:=/home/rubber/.ros/log/8e02c538-f546-11ed-a249-b9230eb60fa5/imu_sonser_spec-7.log].
log file: /home/rubber/.ros/log/8e02c538-f546-11ed-a249-b9230eb60fa5/imu_sonser_spec-7*.log

解决方法：

sudo apt install ros-noetic-global-planner 
sudo apt install ros-noetic-dwa-local-planner

/home/rubber/rubber_tapping_robot/rubber_ws/src/lslidar_c16/lslidar_driver/include/lslidar_driver/input.h:24:10: fatal error: pcap.h: 没有那个文件或目录
24 | #include <pcap.h>
| ^~~~~~~~

sudo apt-get update
sudo apt-get install  libpcap-dev

6，出现websocket 或者mqtt报错

###需安装websocketpp库：
sudo apt-get install libboost-all-dev

git clone https://github.com/zaphoyd/websocketpp.git
cd websocketpp/
mkdir build
cd build/
cmake ..
sudo make install

sudo apt install python3-websocket
###MQTT安装paho.mqtt.c-1.3.0.zip这个包的源码###

源码在：https://gitee.com/aw-go/mqtt.git

下载编译安装一下：

https://fqjun.notion.site/SDK-e6285c8f36b74833aa016b68384d61f6

https://file.notion.so/f/f/314abc8e-e898-452b-9171-fe6d70d9bab1/b69381cb-b41c-434a-874d-3b04ecbfad66/Untitled.7z?table=block&id=f15fd949-4a96-46c9-8083-7d75ab03a026&spaceId=314abc8e-e898-452b-9171-fe6d70d9bab1&expirationTimestamp=1729929600000&signature=xyr7HK95F1aGXMBIh0dB4J_I5qAJxphGDaP3TAjaDVE&downloadName=fr_C%2B%2B_SDK_Linux.7z

#####视觉识别Open3D安装

sudo ln -sf /usr/lib/x86_64-linux-gnu/libX11.so /usr/lib/libX11.so

cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/open3d_install -DBUILD_SHARED_LIBS=ON -DUSE_SYSTEM_CURL=ON

##编译新的++c版本的识别

安装支持 CUDA 的 ONNX Runtime：

wget https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-gpu-1.16.3.tgz

tar -xzf onnxruntime-linux-x64-gpu-1.16.3.tgz
cd onnxruntime-linux-x64-gpu-1.16.3
sudo cp -r include/* /usr/local/include/
sudo cp -r lib/* /usr/local/lib/
sudo ldconfi

修改cmakelist
# ONNX Runtime
set(ONNX_RUNTIME_PATH "/opt/onnxruntime")
find_library(ONNXRUNTIME_LIB
    NAMES onnxruntime
    #PATHS "${ONNX_RUNTIME_PATH}/lib"
    PATHS /usr/local/lib # 明确指定查找路径
    NO_DEFAULT_PATH
    REQUIRED
)

# 添加调试信息，确认是否找到库
if(ONNXRUNTIME_LIB)
message(STATUS "Found ONNXRUNTIME library: ${ONNXRUNTIME_LIB}")
else()
message(FATAL_ERROR "ONNXRUNTIME library not found. Please check the installation.")
endif()