In my PhD work we maybe are going to use some Fuzzy controllers, I found out this Fuzzylite really light and simple to use. Following how I got it working on my environment.
I installed it following this instructions. With a different version cloned from github repository.
So I don’t need to extract, only cd fuzzylite folder inside fuzzylite git repository:
fuzzylite/:~$ cd fuzzylite
Then CMake, make and make install:
fuzzylite/fuzzylite:~$ cmake .
fuzzylite/fuzzylite:~$ make
fuzzylite/fuzzylite:~$ sudo make install
After that you need to export the installation local
$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
In this way it is possible to link the fuzzylite dynamically, you can use their example:
$ g++ example.cpp -lfuzzylite
$ ./a.out
On ROS you can utilize the library updating your CMakelists.txt:
## Specify libraries to link a library or executable target against
target_link_libraries(fuzzy_tests_node
${catkin_LIBRARIES}
fuzzylite
)
Up to now I didn’t have any problems and I can use fuzzylite values to read from and update ROS topics.
That’s all.