博客

这里把一些初始化安装配置记录一下。

更换阿里云软件源

// 备份初始软件源列表
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

//编辑软件源列表
sudo gedit /etc/apt/sources.list

// 删除sources.list里面所有东西，放入以下内容
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

// 终端输入
sudo apt update
// 更新，这一命令会更新内核，最好只在刚装上系统时运行一次
sudo apt upgrade

安装软件和小工具，常用配置

安装VScode Chrome 输入法 网易云音乐 VirtualBox

设置 root 密码

sudo passwd root

顶栏显示内存

sudo add-apt-repository ppa:fossfreedom/indicator-sysmonitor
sudo apt update
sudo apt install indicator-sysmonitor
indicator-sysmonitor &

文件夹右键管理员身份打开

sudo apt install nautilus-admin
// 重启 nautilus 
nautilus -q

优化

sudo apt install gnome-tweak-tools gnome-shell-extension-dashtodock

安装OpenCV

依赖

sudo apt install build-essential libgtk2.0-dev libvtk6-dev libjpeg-dev libtiff5-dev libopenexr-dev libtbb-dev
sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgtk-3-dev

安装Ceres

依赖

sudo apt install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev 

安装g2o

依赖

sudo apt install libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

安装Nvidia显卡驱动

1.添加 nvidia ppa 源

sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update

2.禁用 nouveau

sudo gedit /etc/modprobe.d/blacklist-nouveau.conf

// 在文件里写入
blacklist nouveau
options nouveau modeset=0

// 更新
sudo update-initramfs -u

禁用nouveau后重启大概率黑屏，在grub界面按e进入编辑模式，在quite splash 后 加上 nomodeset 参数，局部看起来像这样

quite splash nomodeset

F10 保存启动，启动后 shell 查看 nouveau 是否禁用成功，没有输出则禁用成功，没有消息就是好消息(斜眼笑)。

lsmod | grep nouveau

之后在软件更新里安装显卡驱动。

安装 ROS

添加源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

添加密钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

安装

sudo apt update
sudo apt install ros-melodic-desktop-full
sudo apt install ros-melodic-rqt*

rosdep初始化


由于国内rosdep被墙了，这里用小鱼大神修改的rosdep

sudo pip install rosdepc
// 或者
sudo pip3 install rosdepc

sudo rosdepc init
rosdepc update

装ros-install

sudo apt-get install python-rosinstall

装moveit!

sudo apt install ros-melodic-moveit

装手柄控制


最好用罗技手柄

sudo apt install ros-melodic-joystick-drivers ros-melodic-joy
sudo apt install joystick

载入环境

// bash
source /opt/ros/melodic/setup.bash
// zsh
source /opt/ros/melodic/setup.zsh

// 放在 ~/.bashrc 的末尾可以使每次打开命令行不用source
gedit ~/.bashrc

海龟测试

打开三个终端分别运行

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

安装 zsh 和 on my zsh

sudo apt install  zsh git
git clone https://github.com/robbyrussell/oh-my-zsh.git ~/.oh-my-zsh
// 镜像
git clone https://ghproxy.com/https://github.com/robbyrussell/oh-my-zsh ~/.oh-my-zsh

cp ~/.oh-my-zsh/templates/zshrc.zsh-template ~/.zshrc
chsh -s /usr/bin/zsh

安装 zsh 插件并更换 ys 主题

zsh-autosuggestions

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

zsh-syntax-highlighting

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

修改~/.zshrc配置文件

gedit ~/.zshrc

plugins=(git
         extract
         zsh-autosuggestions
         zsh-syntax-highlighting            
)

source $ZSH/oh-my-zsh.sh
source $ZSH_CUSTOM/plugins/zsh-autosuggestions/zsh-autosuggestions.zsh
source $ZSH_CUSTOM/plugins/zsh-syntax-highlighting/zsh-syntax-highlighting.zsh

source /opt/ros/melodic/setup.zsh