/ToolBox

A GUI debug tool, including serial port oscilliscope, IMU data visualizer, path planner, based on VESC Tool v1.24 with Qt5

Primary LanguageC++GNU General Public License v3.0GPL-3.0

This is a GUI written using the Qt toolkit to make the test more easier.

Prerequisites：

  1. Eigen3: download Eigen 3.4.0 from this URL: https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip.

  2. Mosek : We use mosek for solving second-order cone program(SOCP). To use mosek, you should approve an academic license in here. The academic license is free and is easy to approve. The license file should be placed inside a folder called "mosek" under the user's home directory ($HOME/mosek/mosek.lic or %USERPROFILE%\mosek\mosek.lic). In most typical cases that will be:

    1. /home/YOUR_USER_NAME/mosek/mosek.lic (Linux)

    2. /Users/YOUR_USER_NAME/mosek/mosek.lic (OSX)

    3. C:\Users\YOUR_USER_NAME\mosek\mosek.lic (Windows)

    All header and library files are already included in the time_optimizer/mosek8_1 folder under this repo, so you don't need to download mosek again.

Build

before you build this project, unzip the eigen archive you have downloaded and place it inside the parent directory of this project

build in QT Creator

open the ToolBox.pro. Configure project with QT5, then build.

build with CMake

If you use CLion, configure the QT toolchain first.

Then configure cmake with the cmake option below:

-DCMAKE_PREFIX_PATH=E:\YOUR_QT_LOCATION\qt\5.15.2\mingw81_64 
-DCMAKE_PROJECT_INCLUDE_BEFORE=E:\YOUR_QT_LOCATION\qt\qt\Tools\QtCreator\share\qtcreator\package-manager\auto-setup.cmake

before run add QT to your path.