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docs: yaml

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fan-ziqi 2024-04-05 22:03:00 +08:00
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README.md
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@ -19,6 +19,8 @@ git pull
git submodule update --remote --recursive git submodule update --remote --recursive
``` ```
## Dependency
Download and deploy `libtorch` at any location Download and deploy `libtorch` at any location
```bash ```bash
@ -34,6 +36,16 @@ Install `teleop-twist-keyboard`
sudo apt install ros-noetic-teleop-twist-keyboard sudo apt install ros-noetic-teleop-twist-keyboard
``` ```
Install yaml-cpp
```bash
git clone https://github.com/jbeder/yaml-cpp.git
cd yaml-cpp && mkdir build && cd build
cmake -DYAML_BUILD_SHARED_LIBS=on .. && make
sudo make install
sudo ldconfig
```
## Compilation ## Compilation
Customize the following two functions in your code to adapt to different models: Customize the following two functions in your code to adapt to different models:
@ -52,7 +64,7 @@ catkin build
## Running ## Running
Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models` Before running, copy the trained pt model file to `rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`, and configure the parameters in `config.yaml`.
### Simulation ### Simulation

8
README_CN.md
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@ -19,6 +19,8 @@ git pull
git submodule update --remote --recursive git submodule update --remote --recursive
``` ```
## 依赖
在任意位置下载并部署`libtorch` 在任意位置下载并部署`libtorch`
```bash ```bash
@ -34,8 +36,6 @@ echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
sudo apt install ros-noetic-teleop-twist-keyboard sudo apt install ros-noetic-teleop-twist-keyboard
``` ```
## 依赖
安装yaml-cpp 安装yaml-cpp
```bash ```bash
@ -46,8 +46,6 @@ sudo make install
sudo ldconfig sudo ldconfig
``` ```
头文件在/usr/local/include，库文件在/usr/local/lib
## 编译 ## 编译
自定义代码中的以下两个函数，以适配不同的模型： 自定义代码中的以下两个函数，以适配不同的模型：
@ -66,7 +64,7 @@ catkin build
## 运行 ## 运行
运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models`中 运行前请将训练好的pt模型文件拷贝到`rl_sar/src/rl_sar/models/YOUR_ROBOT_NAME`中，并配置`config.yaml`中的参数。
### 仿真 ### 仿真