Overview of PACPUS

PACPUS is a research platform of the Heudiasyc JRU UTC/CNRS 7253 in the field of Intelligent Vehicles. You can find more details about the equipments and research results directly on the website of PACPUS platform: pacpus.hds.utc.fr

To carry out experiments with Intelligent Vehicles or robots, Heudiasyc has developed the PACPUS framework to solve the systems integration issues. The framework is designed around the ​ KISS principle and use ​ Component-based software engineering. Developments are done mainly in C++.

PACPUS framework is distributed under ​CECILL-C license (equivalent to LGPL) so you can use it to build free and commercial software. You can find also some PACPUS plugins developed by the laboratory that you can use freely.

PACPUS framework

Useful links

• Tutorials
• FAQ -- common compilation errors
• FAQ -- common run-time errors
• FAQ -- common tips
• Useful tools

Prerequisites

Tools

• Modern C++ compiler (gcc >= 4.5, clang >= 3.2, Microsoft Visual Studio 2008 or newer, etc.)
• ​CMake 2.8.10 or newer
• ​Doxygen (optionally)
• ​Subversion (SVN) control version system

Libraries

• Boost 1.54 or newer:
  • Go to this ​download link and select the Boost version corresponding to your compiler
  • Or you can get directly the version that supports all Visual Studio versions: ​Boost-msvc-all)
• ​Qt 4.8 or newer (​download)

Compilation and Installation

Follow these instructions to compile and install the pacpus framework :

• Windows
• Linux
• under MAC OSX: to come...

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Installation

The PACPUS framework is available on several OS: Linux, Windows and Mac OS X.

• Installation guide of PACPUS on Windows : TO COME
• Installation guide of PACPUS on Linux Ubuntu : TO COME
• Installation guide of PACPUS on Mac OS X : TO COME
• Installation guide of PACPUS on Linux embedded : TO COME

Once you have successfully compiled Pacpus Framework, you can install it using:

make install

or, if you use a GUI-based development environment, you have to build the INSTALL target/project.

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Getting started

The tutorials are under development, they will be published soon.

PacpusTutorials/ManagingDbtFiles

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Documentation

PACPUS API

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Active tickets

Ticket	Resolution	Summary	Owner	Reporter
#8		PATCH: please add description		heryelwa
#7		Diagrammes UML	ldecherf	ldecherf
#5		Add a possibility to display or not UI		xuphilip
#4		Add a counter in setState method		xuphilip
#3		The scope of m_ui may be protected		xuphilip
#2		Strange behavior of FindPacpus.cmake that erase PACPUS_ROOT variable		DHERBOMEZ Gérald
#1		Problem of LOG_INFO when passing a QString		lifranck

Free available PACPUS plugins

Heudiasyc provides also some plugins that can help you to build your own application. For example, there are some interfaces to sensors used in the lab, or some tools as viewers, compute algorithms...

PACPUS sensors

This is the list of sensors now supported:

PacpusSensors/SickPlugins

Video

Provides camera support on Firewire (1394), USB?.

Requirements

• [Windows] 1394camera CMU library. For more info, see ​here.

PACPUS viewers

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NB: If you need more informations about the TRAC system used to manage this collaborative site, you can read this page or have a look at the official ​TRAC project