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@[toc]

安装Ubuntu

zsh环境配置

1）安装zsh

sudo apt-get update

安装一些工具

sudo apt-get install cmake git zsh curl net-tools

2）安装ohmyzsh

sh -c "$(curl -fsSL https://raw.github.com/robbyrussell/oh-my-zsh/master/tools/install.sh)"

3）安装插件

git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting
git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions

4）修改zshrc

gedit ~/.zshrc

在文件中添加

plugins=(zsh-autosuggestions zsh-syntax-highlighting  git)
source $ZSH/oh-my-zsh.sh
alias ezs="gedit ~/.zshrc"
alias szs="source ~/.zshrc"
alias sss="source devel/setup.zsh"
source /opt/ros/noetic/setup.zsh
# export PATH=~/anaconda3/bin:$PATH

export https_proxy=http://127.0.0.1:8889
export http_proxy=http://127.0.0.1:8889
export all_proxy=socks5://127.0.0.1:8889

setopt no_nomatch # 允许使用 *缺省

4）安装terminator

sudo apt-get install terminator

安装后创建目录

mkdir ~/.config/terminator
gedit ~/.config/terminator/config

讲下面内容拷贝进去，并保存

[global_config]
  title_font = Ubuntu Mono 11[keybindings]
[keybindings]
[layouts]
  [[default]]
    [[[child1]]]
      parent = window0
      type = Terminal
    [[[window0]]]
      parent = ""
      size = 1200, 600
      type = Window
[plugins]
[profiles]
  [[default]]
    background_color = "#002b36"
    background_darkness = 0.91
    background_image = None
    background_type = transparent
    font = Ubuntu Mono 15
    foreground_color = "#e0f0f1"
    show_titlebar = False
    use_system_font = False

anaconda(For Learning)

anaconda直接官网下载就好了，安装完后在zshrc中添加

export PATH=~/anaconda3/bin:$PATH# >>> conda initialize >>># !! Contents within this block are managed by 'conda init' !!__conda_setup="$('/home/yunfan/anaconda3/bin/conda' 'shell.zsh' 'hook' 2> /dev/null)"if [ $? -eq 0 ]; then    eval "$__conda_setup"else    if [ -f "/home/yunfan/anaconda3/etc/profile.d/conda.sh" ]; then        . "/home/yunfan/anaconda3/etc/profile.d/conda.sh"    else        export PATH="/home/yunfan/anaconda3/bin:$PATH"    fifiunset __conda_setup# <<< conda initialize <<<

eigen

sudo apt-get install libeigen3-dev 
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

ROS

ros-noetic

ros-noetic

# Setup your computer to accept software from packages.ros.org.
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
# Set up your keys
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update
sudo apt install ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

mavros pcl plot-juggler

sudo apt install ros-noetic-mavros*
sudo apt install ros-noetic-pcl*
sudo ln -s /usr/include/pcl-1.8/pcl /usr/include/pcl
sudo apt install ros-noetic-plotjuggler*
sudo apt install ros-noetic-view-controller-msgs
sudo apt install ros-noetic-octomap*
sudo apt install ros-noetic-serial*

QGC

sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y

Download QGroundControl.AppImage. Copy it to App folder. Install (and run) using the terminal commands:

sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
chmod +x ./QGroundControl.AppImage
./QGroundControl.AppImage

clion

clion装好后要装三个插件比较舒服

  • CodeGlance
  • Hatchery
  • Rainbow Brackets

simplescreenrecorder

录屏软件

 sudo apt-get install simplescreenrecorder

搜狗输入法

https://shurufa.sogou.com/linux

flameshot

截图软件

sudo apt-get install flameshot

添加快捷键：在系统设置的keymap里

VLC

视屏播放软件

sudo apt-get install vlc

git ssh生成

ssh-keygen -t rsa -C “your-email”

一路回车 然后

cat ~/.ssh/id_rsa.pub

将得到的链接复制进入github -> Settings -> SSH and GPG keys -> new SSH key，取个名字即可

Ceres

安装相关依赖

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

下载压缩包并解压，压缩包地址 http://ceres-solver.org/ceres-solver-2.0.0.tar.gz (Release里面也有）

tar zxf ceres-solver-2.0.0.tar.gz #安装了zsh的extract插件，则可以直接用 x + filename解压
cd ceres-solver-2.0.0
mkdir build
cd build
cmake .. #生成makefile
make -j4 #编译
make test
sudo make install #安装

测试，继续在build路径下输入

bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt

若出现下图所示结果，则说明安装成功。 在这里插入图片描述

CmakeLists.txt如何使用Ceres

find_package(Ceres REQUIRED)
include_directories(include    ${CERES_INCLUDE_DIRS})

截动图GIF工具byzanz (不需要)

sudo apt-get install byzanz #下载byzanz

有一个小工具xdotool可以获取鼠标的所在坐标

sudo apt-get install xdotool

命令行输入

xdotool getmouselocation

可以得到鼠标当前的X，Y值，只需要知道所需举行区域左上和右下角的坐标即可截取GIF

截图

byzanz-record -x 506 -y 132 -w 1019 -h 616  -d 10 --delay=5 -c  test.gif

这里设置延时5秒开始录制，录制时长为10秒，并输出到当前位置成test.gif文件，矩形左上角坐标为x=506, y=132，宽度为1019, 高度616.

参数

byzanz主要的参数选项有： -d, --duration=SECS 动画的时间 (默认：10 秒) -e, --exec=COMMAND Command to execute and time --delay=SECS 开始之前的延时(默认：1 秒) -c, --cursor 录制鼠标光标 -a, --audio 录音 -x, --x=像素 要录制矩形的 X 坐标 -y, --y=像素 要录制矩形的 Y 坐标 -w, --width=像素 录制矩形的宽度 -h, --height=像素 录制矩形的高度 -v, --verbose 详细 --display=显示 要使用的 X 显示

Backwardcpp

 sudo apt-get install libdw-dev

随后下载头文件 https://raw.githubusercontent.com/bombela/backward-cpp/master/backward.hpp 复制到根目录 sudo mv backward.hpp /usr/include 在CmakeLists.txt target_link lib 后面加个 "dw"

#define BACKWARD_HAS_DW 1
#include "backward.hpp"
namespace backward {
    backward::SignalHandling sh;
}

添加python环境变量

当编译程序报错：找不到<Python.h>时，可能是没有声明环境变量。 修改 ~/.zshrc

export CPATH=/usr/include/python3.8:$CPATH
export LD_LIBRARY_PATH=/usr/lib:$LD_LIBRARY_PATH

OOQP（不用装）

https://github.com/RENyunfan/ooqp_group

hpipm solver

cd ~/Libs
git clone https://github.com/giaf/blasfeo
git clone https://github.com/giaf/hpipm
cd blasfeo && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBLASFEO_EXAMPLES=OFF 
make -j8
sudo make install -j
cd ../../hpipm && mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DHPIPM_TESTING=OFF 
make -j8
sudo make install -j
echo "export LD_LIBRARY_PATH=/opt/blasfeo/lib:/opt/hpipm/lib:$LD_LIBRARY_PATH" >> ~/.zshrc

cd ~/Libs
git clone https://github.com/mayataka/hpipm-cpp
cd hpipm-cpp
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release 
make -j8
sudo make install -j

fmt, livox-sdk

进入fmt库的文件夹，执行以下命令

mkdir build
cd build/
cmake -DBUILD_SHARED_LIBS=TRUE ..
make
sudo make install
sudo cp /usr/local/lib/libfmt.so.8 /usr/lib

livox-sdk

mkdir build && cd build
cmake ..
make
sudo make install

GTSAM

安装依赖

sudo apt-get install libboost-all-dev
sudo apt-get install cmake
sudo apt-get install libtbb-dev

下载GTSAM压缩包(见Release)并解压，进入GTSAM文件夹

mkdir build
cd build
cmake ..
make check (optional, runs unit tests)
sudo make install
sudo cp /usr/local/lib/libgtsam.so.4 /usr/lib
sudo cp /usr/local/lib/libmetis-gtsam.so /usr/lib

wifi driver 88x2bu-5.8.7.4 (Skip this step) （不需要）

常规安装 驱动解压的用户目录的下载目录，打开解压后的驱动文件夹，空白处点击鼠标右键打开终端 sudo gedit /etc/NetworkManager/NetworkManager.conf 将 managed=false 改成 true 然后在有makefile的目录里 sudo make sudo make install reboot

配置AdHoc点对点通信 （不需要）

  • 将ad_hoc.sh复制到主目录下
sudo chmod 777 ad_hoc.sh  #授予权限

  • 将脚本中的wlo1修改为自己电脑中的网卡名，可以用ifconfig查看

    10.0.0.x即为设定的IP，要确保每个电脑的这个值不同。

    目前已有的三架飞机分别为 10.0.0.101, 10.0.0.102, 10.0.0.103，之后依次递增。

    控制飞机的主机以及地面站可以设置为 10.0.0.x，x < 100且不相同即可，如10.0.0.8。

  • 启动AdHoc模式

    sh ad_hoc.sh

    然后用iwconfig查看网卡状态，如果如下所示有Cell值，且ESSID为设定的名称 djiadhoc，Mode为Ad-Hoc即为成功。

    Exit the AdHoc convert to WiFi mode use command "sudo service network-manager restart"

NUC开机启动AdHoc：（不需要）

开机自启动 crontab -e， Select an editor, choose 1. crontab -l, 在最后写入

@reboot sleep 5; echo " " | sudo -S ~/ad_hoc.sh
@reboot sleep 30; echo " " | sudo -S ~/ad_hoc.sh

ctrl + x保存退出

Typora

# or use
# wget -qO - https://typora.io/linux/public-key.asc | sudo apt-key add -
wget -qO - https://typoraio.cn/linux/public-key.asc | sudo tee /etc/apt/trusted.gpg.d/typora.asc

# add Typora's repository
sudo add-apt-repository 'deb https://typora.io/linux ./'
sudo apt-get update

# install typora
sudo apt-get install typora

FlightPlot

https://blog.csdn.net/qq_33641919/article/details/106883279?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522165786853316781432947100%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=165786853316781432947100&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-1-106883279-null-null.142^v32^pc_rank_34,185^v2^control&utm_term=flightplot%E4%BD%BF%E7%94%A8%E6%96%B9%E6%B3%95&spm=1018.2226.3001.4187

安装Appimage Launcher

sudo add-apt-repository ppa:appimagelauncher-team/stable
sudo apt install appimagelauncher

使用zshrc自启动脚本

https://blog.csdn.net/weijifen000/article/details/88370085

sudo gedit ~/.zshrc
sh xxx.sh

NUC13 Pro doesn't show WIFI

install backport-iwlwifi-dkms_9858-0ubuntu3_all.deb in Release/Libs

绑定USB端口号

lsusb 查看设备ID 创建配置文件

sudo gedit /etc/udev/rules.d/fcu.rules

写入，注意修改idVendor和IDProduct。

KERNEL=="ttyACM*", ATTRS{idVendor}=="3163", ATTRS{idProduct}=="004c", MODE:="0777", SYMLINK+="pixhawk"

随后更新

sudo udevadm control --reload-rules
sudo udevadm trigger

git ssh 代理

sudo gedit ~/.ssh/config 加入

ProxyCommand  /usr/bin/ncat --proxy 127.0.0.1:7892 --proxy-type http %h %p

apt 使用代理

sudo gedit /etc/apt/apt.conf.d/proxy.conf 加入

Acquire {
  HTTP::proxy "http://127.0.0.1:7892";
  HTTPS::proxy "http://127.0.0.1:7892";
}