联想拯救者Legion Y7000P 2020款ubuntu20.04安装ros noetic

朴灿烈づ我的快乐病毒、 2022-09-11 03:12 779阅读 0赞

##  ##

## 一、下载并安装Ubuntu20.04 ##

1.  阿里云下载ubuntu系统官方镜像；（阿里云的此镜像我已验证可顺利安装ros）
2.  [Index of /ubuntu-releases/20.04/][Index of _ubuntu-releases_20.04]

下载：[ubuntu-20.04.3-desktop-amd64.iso][]

3.用软碟通ultraISO制作系统U盘

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5YaN6YGH5b2T5bm0_size_20_color_FFFFFF_t_70_g_se_x_16][]

具体安装参考：[联想拯救者Legion Y7000P 2020款(10代INTEL+GTX1650)安装ubuntu16.04(双系统)\_苏凯的博客-CSDN博客][Legion Y7000P 2020_10_INTEL_GTX1650_ubuntu16.04_-CSDN]

修改hosts文件

打开此链接：https://githubusercontent.com.ipaddress.com/raw.githubusercontent.com

将其中显示的IP Address地址复制到粘贴板，这里为`199.232.96.133`

![image-20201118151707815][]

编辑系统的hosts文件：

sudo gedit /etc/hosts

把以下内容追加到末尾即可：

199.232.96.133  raw.githubusercontent.com

上面哪条IP是旧的，需要自己查询，或者把这是最新的加进去：

185.199.110.133  raw.githubusercontent.com
    151.101.228.133 raw.github.com

永久指定安装源

每次临时指定源地址比较麻烦，可以通过以下方式配置永久源

在主目录创建.pip文件夹

mkdir ~/.pip  
编写~/.pip/pip.conf

已复制  
sudo gedit ~/.pip/pip.conf  
并添加以下内容

[global]
    trusted-host=pypi.douban.com
    index-url=https://mirrors.aliyun.com/pypi/simple/
    timeout=6000

此时，默认pip install xxx已经可以自动走镜像地址， 但是sudo模式下的pip和pip3并不能使用此镜像。所以要把这个pip.conf复制到/root/.pip目录下

sudo mkdir -p /root/.pip
    sudo cp ~/.pip/pip.conf /root/.pip/

可用的源有:

清华大学：https://pypi.tuna.tsinghua.edu.cn/simple 
    阿里云：http://mirrors.aliyun.com/pypi/simple/ 
    中国科技大学 https://pypi.mirrors.ustc.edu.cn/simple/ 
    华中理工大学：http://pypi.hustunique.com/ 
    山东理工大学：http://pypi.sdutlinux.org/ 
    豆瓣：https://pypi.douban.com/simple/

# **ros-noetic安装** #

## 添加ros软件源: ##

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

安装公钥:

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

更新：

sudo apt update

安装ros-noetic

sudo apt install ros-noetic-desktop-full

设置ros版本:

apt search ros-noetic

环境设置:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
    source ~/.bashrc

## 初始化ROS ##

1.  首先需要先初始化 rosdep，具体如下：

sudo apt install python3-rosdep2
    sudo apt install python3-rosdep
    sudo rosdep init

### 2.rosdep update ###

rosdep update

###  ###

### rosdep init ROS安装问题解决方案 ###

**问题简述**

ERROR: cannot download default sources list from:
    https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
    Website may be down.

ping一下这个网址

ping raw.githubusercontent.com

改hosts文件

sudo gedit /etc/hosts
     
    185.199.110.133  raw.githubusercontent.com
    151.101.228.133 raw.github.com

修改：20-default.list

sudo su //或者su root 然后输入密码切换至root用户
    sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

把 raw.githubusercontent.com改 raw.github.com

# os-specific listings first
    yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
     
    # generic
    yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
    yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
    yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
    gbpdistro https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
     
    # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

改：

# os-specific listings first
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx
     
    # generic
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/base.yaml
    yaml https://raw.github.comm/ros/rosdistro/master/rosdep/python.yaml
    yaml https://raw.github.com/ros/rosdistro/master/rosdep/ruby.yaml
    gbpdistro https://raw.github.com/ros/rosdistro/master/releases/fuerte.yaml fuerte
     
    # newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

网站https://ghproxy.com/支持github的资源代理，非常好用，我们将用此代理加速rosdep对Github Raw的访问，进而解决rosdep update超时问题。

定位rosdep资源下载函数

rosdep超时

[解决ROS系统 rosdep update超时问题的新方法\_leida\_wt的博客-CSDN博客\_rosdep update 超时][ROS_ rosdep update_leida_wt_-CSDN_rosdep update]

先获取根文件的访问权限

sudo nautilus

**1：修改这函数**

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py

311行添加：

url="https://ghproxy.com/"+url

应用ghproxy的代理服务

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQzMDU4Mjgx_size_16_color_FFFFFF_t_70_pic_center]

**2：修改函数**

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py

69 行

DEFAULT_INDEX_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml'

**3：修改函数**

**同样的方法把“https://ghproxy.com/”添加到网址前**

sudo gedit /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

36行

FUERTE_GBPDISTRO_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/' \
        'master/releases/fuerte.yaml'

** 4：修改函数**

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py

72行

DEFAULT_SOURCES_LIST_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list'

**5：修改函数**

sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py

39行

REP3_TARGETS_URL = 'https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/targets.yaml'

**6：修改函数**

sudo gedit /usr/lib/python3/dist-packages/rosdistro/manifest_provider/github.py

68行

url = 'https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/package.xml' % (path, release_tag)

119行

url = 'https://ghproxy.com/https://raw.githubusercontent.com/%s/%s/%s' % \
                (path, cache.ref(), package_xml_path + '/package.xml' if package_xml_path else 'package.xml')

**7：修改函数**

sudo gedit /usr/lib/python3/dist-packages/rosdep2/gbpdistro_support.py

第204行

gbpdistro_url = "https://ghproxy.com/" + gbpdistro_url 207

rosdep

sudo rosdep init
    rosdep update

用户在本机上运行，可以指定localhost

# Set ROS Network
    
    
    # Set ROS Network
    
    #export ROS_HOSTNAME=xxx.xxx.xxx.xxx
    
    #export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
    
    
    export ROS_HOSTNAME=localhost
    
    export ROS_MASTER_URI=http://localhost:11311

## 安装rosinstall ##

这是安装ROS各种功能包的程序。很有用的工具，务必安装

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
    
    # sudo apt install python3-roslaunch
    sudo apt-get install ros-noetic-roslaunch

**3.安装其它依赖及软件**

更新命令

sudo apt-get update
    sudo apt-get upgrade
    sudo apt-get dist-upgrade
    sudo apt-get -f install

ros中添加qt 增加Qt5SerialPor库

sudo apt-get install libcppunit-dev
    sudo apt-get install ros-$ROS_DISTRO-qt-create
    sudo apt-get install ros-$ROS_DISTRO-qt-build
    sudo apt install libqt5serialport5-dev
    sudo apt-get install qtmultimedia5-dev
    sudo apt-get install libqt5multimedia5-plugins 
    sudo apt-get install sqlitebrowser
    sudo apt-get install ros-$ROS_DISTRO-navigation
    sudo apt-get install ros-$ROS_DISTRO-serial #https://blog.csdn.net/Shushan1/article/details/118976650
    sudo apt-get install ros-$ROS_DISTRO-libuvc
    sudo apt-get install ros-$ROS_DISTRO-tf2-sensor-msgs
    sudo apt-get install ros-$ROS_DISTRO-control-toolbox
    sudo apt-get install ros-$ROS_DISTRO-ecl-threads
    sudo apt-get install ros-$ROS_DISTRO-pcl-ros
    sudo apt-get install ros-$ROS_DISTRO-image-transport
    sudo apt-get install ros-$ROS_DISTRO-interactive-markers
    sudo apt install ros-noetic-network-interface
    sudo apt install pcl-tools
    sudo apt-get install -y patchelf
    sudo apt-get install libxcb-xinerama0
    sudo apt install aria2
    sudo apt install net-tools
    sudo apt-get install terminator
    sudo apt install node-grunt-cli
    图像转svg
    sudo apt install potrace
    sudo apt-get install rar
    sudo apt install gimp
    u盘
    sudo apt-get install exfat-fuse
    虚拟显示器
    sudo apt-get install  xserver-xorg-core-hwe-18.04
    sudo apt-get install  xserver-xorg-video-dummy-hwe-18.04
    -------------------------------------------------------
    sudo apt-get install ros-$ROS_DISTRO-gazebo-ros
    sudo apt-get install ros-$ROS_DISTRO-rviz
    sudo apt-get install ros-$ROS_DISTRO-xacro
    sudo apt-get install ros-$ROS_DISTRO-camera-info-manager
    sudo apt install ros-noetic-gazebo-ros-control
    sudo apt install ros-noetic-position-controllers
    sudo apt-get install ros-noetic-turtlebot3-autorace-core
     sudo apt-get install ros-noetic-turtlebot3-autorace-driving
    sudo apt-get install ros-$ROS_DISTRO-rqt
    sudo apt-get install ros-$ROS_DISTRO-rqt*
    sudo apt-get install ros-$ROS_DISTRO-rqt-graph
    sudo apt-get install ros-$ROS_DISTRO-rqt-common-plugins
    sudo apt-get install ros-noetic-tf*
    sudo apt install liburdfdom-tools
    sudo apt-get install unicode 
    sudo apt install python3-pip
    pip install -i https://pypi.tuna.tsinghua.edu.cn/simple gym
    sudo apt install python3-git
    sudo apt-get install ros-noetic-controller-manager-msgs
    sudo apt-get install libdmtx-dev libdmtx-utils
    sudo apt-get install libzbar-dev 
    --------------------------
    sudo apt-get install \
     python3-vcstool  \
    pyqt5-dev-tools \
    libbluetooth-dev libspnav-dev \
     libcwiid-dev \
    cmake gcc g++ \
    libusb-dev libftdi-dev \
    python3-defusedxml python3-vcstool \
    ros-noetic-octomap-msgs        \
    ros-noetic-joy                 \
    ros-noetic-geodesy             \
    ros-noetic-octomap-ros         \
    ros-noetic-control-toolbox     \
    ros-noetic-pluginlib	       \
    ros-noetic-trajectory-msgs     \
    ros-noetic-control-msgs	       \
    ros-noetic-std-srvs 	       \
    ros-noetic-nodelet	       \
    ros-noetic-urdf		       \
    ros-noetic-rviz		       \
    ros-noetic-kdl-conversions     \
    ros-noetic-eigen-conversions   \
    ros-noetic-tf2-sensor-msgs     \
    ros-noetic-pcl-ros \
    ros-noetic-navigation \
    ros-noetic-sophus
    
    -----------------------
    pip install launchpadlib
    sudo pip install gym
    sudo apt-get install python3-skimage
    sudo pip install h5py
    pip install tensorflow-gpu (如果你没有gpu则用这条指令： pip install tensorflow)
    sudo pip install keras

[安装支持SSH][SSH]

sudo apt install openssh-server
    sudo systemctl status ssh

# 安装rosbridge,支持java与ROS通信 #

sudo apt-get install ros-noetic-rosbridge-server

测试：rosbridge

启动

roscore
        roscd rosbridge_server
        roslaunch rosbridge_server rosbridge_websocket.launch
        #列出所有节点，可见增加了rosbridge_websocket
        rosnode list

成功运行后可见，默认9090端口：  
Rosbridge WebSocket server started at ws://0.0.0.0:9090

*  3、测试  
    下载[java\_rosbridge][java_rosbridge]，该工程只支持topic通信，需要自己扩展下**service通信**，然后运行工程的RosTest，另外**消息结构**也需要根据需要扩展，以及自己实现**重连机制**。

#列出所有主题，可见主题增加了java_to_ros和ros_to_java
    rostopic list
    #输出主题消息
    rostopic echo /java_to_ros
    #发布主题消息
    rostopic pub /ros_to_java std_msgs/String  "helloJAVA"
    rostopic pub /java_to_ros std_msgs/String  "helloROS"
    #列出所有服务，可代码调用默认的/rosapi/get_time
    rosservice list
    rosservice call /rosapi/get_time

4、rosbridge协议  
底层为websocket通信，在这之上封装具体的数据格式，具体见：

[Rosbridge协议定义][Rosbridge]

[rosbridge\_suite][rosbridge_suite]

查看当前gcc版本

gcc -v

常用命令

#进入ROS目录
    roscd
    #运营
    roslaunch
    rosrun
    #节点
    rosnode list
    #主题
    rostopic list
    #服务
    rosservice list
    rosservice call /rosapi/get_time
    #消息
    rosmsg list
    #查看消息定义
    rosed geometry_msgs Twist.msg 
    #消息的存储和重新发布
    rosbag
    #参数
    rosparam list

安装 gcc g++

sudo apt install build-essential

apt-get install p7zip-full
     
    解压7z：使用方法：7z x file file是你要解压的文件名。
     
    解压tar.bz2: sudo tar -jxvf file.tar.bz2。
     
    解压tar: sudo tar -zxvf file.tar。

## ubuntu 20.04 ROS Noetic 无serial包解决方法 ##

cd ~/3rdparty/
    git clone https://github.com/wjwwood/serial.git

进入serial目录编译，安装

cd serial
    make
    make install

对CMakeLists.txt进行如下修改

find_package(catkin REQUIRED COMPONENTS
      roscpp
      serial
      # 。。。
    )
    
    ## Include headers
    include_directories(include)
    ## 改成
    ## Include headers
    include_directories(include  ${catkin_INCLUDE_DIRS})
    
    
    # .bashrc  source ~/3rdparty/serial/build/devel/setup.sh

安装gym-gazebo:

cd ~
    git clone git clone https://github.com/erlerobot/gym-gazebo.git
    cd gym-gazebo
    sudo pip install -e .
    运行bash文件，构建ros工作区：
    cd gym-gazebo/gym_gazebo/envs/installation
    #注意版本 
    bash setup_melodic.bash

# **4、源码安装sophus** #

git clone https://github.com/stonier/sophus -b release/0.9.1-kinetic
    cd sophus
    git checkout 1.2.x
    mkdir build
    cd build
    cmake ..
    make
    sudo make install

.bashrc

source /opt/ros/noetic/setup.bash
    export TURTLEBOT3_MODEL=waffle
     
    export CAMERA_TYPE=astrapro
    #export CAMERA_TYPE=astrapro
    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/3rdparty/ORB_SLAM2/Examples/ROS
     #export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/3rdparty/serial
    source ~/3rdparty/serial/build/devel/setup.sh
    alias cw='cd ~/workspace/workspace_ros_foodcar_jicui '
    alias cs='cd ~/workspace/workspace_ros_foodcar_jicui/src'
    alias cm='cd ~/workspace/workspace_ros_foodcar_jicui  && catkin_make'
    alias sd='source devel/setup.sh'
    alias sm='catkin_make && source devel/setup.sh'
    alias cws='cd ~/workspace/workspace_ros_foodcar_jicui && source devel/setup.sh'
    alias smc='catkin_make_isolated --install --use-ninja'
    alias sdc='source install_isolated/setup.bash'
    
    ## 编译ros项目时要注释掉 /home/iimt/.bashrc 以下3条;打包项目时需要打开注释
    #export PATH=/home/iimt/3rdparty/qt/bin:$PATH
    #export LIB_PATH=/home/iimt/3rdparty/qt/lib:$LIB_PATH
    #export PLUGIN_PATH=/home/iimt/3rdparty/qt/plugins:$PLUGIN_PATH
     
    
    ## ubuntu20.04 使用以下；编译ros项目时要注释掉 /home/iimt/.bashrc 以下3条;打包项目时需要打开注释
    #export PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/bin:$PATH
    #export LD_LIBRARY_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/lib:$LD_LIBRARY_PATH
    #export QT_PLUGIN_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/plugins:$QT_PLUGIN_PATH
    #export QML2_IMPORT_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/qml:$QML2_IMPORT_PATH
    
    ##export QML2_PATH=/home/maoypeng/Applications/Qt5.1.1/5.1.1/gcc/qml:$QML2_PATH
     
    export ROS_HOSTNAME=127.0.0.1
    export ROS_MASTER_URI=http://127.0.0.1:11311  
    # linuxdeployqt打包，编译问题
    #export LD_LIBRARY_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc_64/lib

### 安装 dconf-editor 系统配置编辑器 ###

打开一个终端，输入下面的命令，安装系统配置编辑器

sudo apt-get install dconf-editor

vnc远程桌面安装

[https://www.realvnc.com/en/connect/download/viewer/][https_www.realvnc.com_en_connect_download_viewer]

[ubuntu下使用vnc viewer - 屁屁撒花啦啦啦 - 博客园][ubuntu_vnc viewer - _ -]

[Ubuntu 20.04 自带远程桌面体验 - 知乎][Ubuntu 20.04 _ -]

sudo gedit /usr/share/X11/xorg.conf.d/xorg.conf    没用！！！！！

Section "ServerLayout"
            Identifier     "X.org Configured"
            Screen      0  "Screen0" 0 0
    	Screen      1  "Screen1" 0 0
    EndSection
    
    
    Section "Files"
    	ModulePath   "/usr/lib/xorg/modules"
    	FontPath     "/usr/share/fonts/X11/misc"
    	FontPath     "/usr/share/fonts/X11/cyrillic"
    	FontPath     "/usr/share/fonts/X11/100dpi/:unscaled"
    	FontPath     "/usr/share/fonts/X11/75dpi/:unscaled"
    	FontPath     "/usr/share/fonts/X11/Type1"
    	FontPath     "/usr/share/fonts/X11/100dpi"
    	FontPath     "/usr/share/fonts/X11/75dpi"
    	FontPath     "built-ins"
    EndSection
    
    Section "Module"
    	Load  "glx"
    EndSection
    
    Section "InputDevice"
    	Identifier  "Keyboard0"
    	Driver      "kbd"
    EndSection
    
    Section "InputDevice"
    	Identifier  "Mouse0"
    	Driver      "mouse"
    	Option	    "Protocol" "auto"
    	Option	    "Device" "/dev/input/mice"
    	Option	    "ZAxisMapping" "4 5 6 7"
    EndSection
    
    Section "Monitor"
    	Identifier   "Monitor0"
    	VendorName   "Monitor Vendor"
    	ModelName    "Monitor Model"
    EndSection
    
    Section "Device"
            ### Available Driver options are:-
            ### Values: <i>: integer, <f>: float, <bool>: "True"/"False",
            ### <string>: "String", <freq>: "<f> Hz/kHz/MHz",
            ### <percent>: "<f>%"
            ### [arg]: arg optional
            #Option     "Accel"              	# [<bool>]
            #Option     "AccelMethod"        	# <str>
            #Option     "Backlight"          	# <str>
            #Option     "CustomEDID"         	# <str>
            #Option     "DRI"                	# <str>
            #Option     "Present"            	# [<bool>]
            #Option     "ColorKey"           	# <i>
            #Option     "VideoKey"           	# <i>
            #Option     "Tiling"             	# [<bool>]
            #Option     "LinearFramebuffer"  	# [<bool>]
            #Option     "HWRotation"         	# [<bool>]
            #Option     "VSync"              	# [<bool>]
            #Option     "PageFlip"           	# [<bool>]
            #Option     "SwapbuffersWait"    	# [<bool>]
            #Option     "TripleBuffer"       	# [<bool>]
            #Option     "XvPreferOverlay"    	# [<bool>]
            #Option     "HotPlug"            	# [<bool>]
            #Option     "ReprobeOutputs"     	# [<bool>]
            #Option     "XvMC"               	# [<bool>]
            #Option     "ZaphodHeads"        	# <str>
            #Option     "VirtualHeads"       	# <i>
            #Option     "TearFree"           	# [<bool>]
            #Option     "PerCrtcPixmaps"     	# [<bool>]
            #Option     "FallbackDebug"      	# [<bool>]
            #Option     "DebugFlushBatches"  	# [<bool>]
            #Option     "DebugFlushCaches"   	# [<bool>]
            #Option     "DebugWait"          	# [<bool>]
            #Option     "BufferCache"        	# [<bool>]
    	Identifier  "Card0"
    	Driver      "intel"
    	BusID       "PCI:0:2:0"
    EndSection
    
    Section "Screen"
    	Identifier "Screen0"
    	Device     "Card0"
    	Monitor    "Monitor0"
    	SubSection "Display"
    		Viewport   0 0
    		Depth     1
    	EndSubSection
    	SubSection "Display"
    		Viewport   0 0
    		Depth     4
    	EndSubSection
    	SubSection "Display"
    		Viewport   0 0
    		Depth     8
    	EndSubSection
    	SubSection "Display"
    		Viewport   0 0
    		Depth     15
    	EndSubSection
    	SubSection "Display"
    		Viewport   0 0
    		Depth     16
    	EndSubSection
    	SubSection "Display"
    		Viewport   0 0
    		Depth     24
    	EndSubSection
    EndSection
    
    Section "Monitor"
      Identifier "Monitor1"
      HorizSync   1.0 - 2000.0
      VertRefresh 1.0 - 200.0
      # Add 16:9 modes, others are automatically detected.
      Modeline "1280x720" 74.48 1280 1336 1472 1664 720 721 724 746
      Modeline "1920x1080" 172.80 1920 2040 2248 2576 1080 1081 1084 1118
    EndSection
    
    
    Section "Device"
      Identifier "Card1"
      Driver "dummy"
      VideoRam 256000
    EndSection
    
    Section "Screen"
      DefaultDepth 24
      Identifier "Screen1"
      Device "Card1"
      Monitor "Monitor1"
      SubSection "Display"
        Depth 24
        Modes "1920x1080"
      EndSubSection
    EndSection

安装完毕后在应用程序中可以找到新增的这个应用

dconf

启动这个应用时会有这样的警告，所以一定小心使用，**不要修改本文提到的选项之外的任何选项！**

按照如下路径

/org/gnome/desktop/remote-access

找到 `requlre-encryption`，把原先默认的开启状态改为关闭

解决编译“robot\_pose\_ekf”package时遇到的问题:No package 'orocos-bfl' found

[解决编译“robot\_pose\_ekf”package时遇到的问题 - 简书][robot_pose_ekf_package_ -]

git clone https://salsa.debian.org/science-team/orocos-bfl.git
    
    # 2. 解压源代码后，编译安装
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make
    $ sudo make install
    # 拷贝头文件到/usr/local/include/ocl
    # 拷贝库文件到/usr/local/lib/
    # 拷贝orocos-bfl.pc到usr/local/lib/pkgconfig/orocos-bfl.pc
    
    3.编译robot_pose_ekf
    # 进入catkin_ws文件夹之后，运行
    $ catkin_make
    
    
    我不做这下面3步也编译过了
    # 拷贝头文件到/usr/local/include/ocl
    # 拷贝库文件到/usr/local/lib/
    # 拷贝orocos-bfl.pc到usr/local/lib/pkgconfig/orocos-bfl.pc
    
    --------------------------------
    ERROR
    -- Looking for Cppunit - not found
    -- You will not be able to build tests. To build tests, first set the path where cppunit can be found using CMAKE_INCLUDE_PATH and CMAKE_LIBRARY_PATH.
    svn: E155007: “/home/iimt/3rdparty/orocos-bfl”不是工作副本
    
     安装libcppunit-dev （sudo apt-get install libcppunit-dev 或者类似的包)

安装qtcreate

在Ubuntu下搭建Qt开发环境和Qt creator\_花花的博客-CSDN博客

ROS与C++入门教程-搭建开发环境(QT+ros\_qtc\_plugin) - 创客智造

Index of /

下载qt ：  [Index of /archive/qt/5.9/5.9.9][Index of _archive_qt_5.9_5.9.9]

cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser 
    sudo gedit default.conf 
     
    sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf

sudo gedit /usr/lib/x86\_64-linux-gnu/qt-default/qtchooser/default.conf

/home/iimt/Qt5.12.11/5.12.11/gcc\_64/bin  
/home/iimt/Qt5.12.11/5.12.11/

/home/iimt/Qt5.9.9/5.9.9/gcc\_64/bin  
/home/iimt/Qt5.9.9/5.9.9/

/home/iimt/3rdparty/qt/bin  
/home/iimt/3rdparty/qt/

安装**ros\_qtc\_plugin**插件

[Ubuntu18安装 ros-qtc-plugin并在qt中配置ros环境\_mhrobot的博客-CSDN博客][Ubuntu18_ ros-qtc-plugin_qt_ros_mhrobot_-CSDN]

[How to Install (Users) — ROS Qt Creator Plug-in documentation][How to Install _Users_ _ ROS Qt Creator Plug-in documentation]

sudo add-apt-repository ppa:levi-armstrong/qt-libraries-trusty
    sudo add-apt-repository ppa:levi-armstrong/ppa  
    sudo apt-get update && sudo apt-get install qt57creator-plugin-ros

sudo gedit /usr/bin/qtcreator
     
    #!/bin/sh
    export QT_HOME=/home/iimt/Qt5.9.9/Tools/QtCreator/bin
    $QT_HOME/qtcreator $*
     
    sudo chmod 777 /usr/bin/qtcreator
     
    启动 ： qtcreator

linuxdeployqt打包，编译问题  
[KylinV10上qt5.9开发应用打包步骤（四）--linuxdeployqt源码编译\_WenCoo的博客-CSDN博客][KylinV10_qt5.9_--linuxdeployqt_WenCoo_-CSDN]

export LD\_LIBRARY\_PATH=/home/iimt/Qt5.9.9/5.9.9/gcc\_64/lib

安装opengl
    sudo apt-get update
    sudo apt-get -f install
    安装opengl
    sudo apt install mesa-common-dev
     
    安装opengl
    sudo apt-get install libgl1-mesa-dev
     
    安装opengl
    sudo apt-get install mesa-common-dev
    sudo apt-get install libgl1-mesa-dev libglu1-mesa-dev
     
     
    sudo apt install cmake

克隆导航包：

[https://github.com/ros-planning/navigation.git][https_github.com_ros-planning_navigation.git]

3、安装依赖；

sudo apt-get install ros-noetic-navigation*
    sudo apt-get install ros-noetic-pointcloud-to-laserscan

4.安装turtlebot3仿真

[https://github.com/ROBOTIS-GIT/turtlebot3\_msgs][https_github.com_ROBOTIS-GIT_turtlebot3_msgs]

5.报错

Joint state with name: "wheel\_left\_joint" was received but not found in URDF

[Joint state with name: “base\_l\_wheel\_joint” was received but not found in URDF\_Big\_cai的博客-CSDN博客][Joint state with name_ _base_l_wheel_joint_ was received but not found in URDF_Big_cai_-CSDN]

6. cartographer 建图算法

安装指导：

1.优先看[问题解决方案2-------------ros的 Cartographer，ninja，ceres-solver，cartographer\_ros安装及其问题，附上最好的安装方法（亲测有效）\_帅某Plus的博客-CSDN博客][2-------------ros_ Cartographer_ninja_ceres-solver_cartographer_ros_Plus_-CSDN]

2.后看

[最新cartographer安装：使用ubuntu20.04 + ROS Noetic\_yqziqian2的博客-CSDN博客![icon-default.png_t_L892][]https://blog.csdn.net/yqziqian2/article/details/118100338][cartographer_ubuntu20.04 _ ROS Noetic_yqziqian2_-CSDN_icon-default.png_t_L892_https_blog.csdn.net_yqziqian2_article_details_118100338]

先安装依赖软件：

sudo apt-get update
    sudo apt-get install -y python3-wstool python3-rosdep ninja-build stow
    sudo apt-get install autoconf autogen
    sudo apt install libgmock-dev #https://blog.csdn.net/xiaokai1999/article/details/113937073
    sudo apt install google-mock
    sudo apt-get -y --force-yes install libgoogle-glog-dev

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python3-sphinx   libatlas-base-dev libsuitesparse-dev liblapack-dev

google gflags安装：

[google gflags 库完全使用\_Just Coding！-CSDN博客][google gflags _Just Coding_-CSDN]

安装google的gflags和glog

[安装google的gflags和glog\_sunshine-CSDN博客][google_gflags_glog_sunshine-CSDN]

把gflags编译成共享库：

cmake .. -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC ..

源码可能安装不上直接安装glog：

sudo apt-get -y --force-yes install libgoogle-glog-dev

###  ###

clone三个代码包

git config --global http.postBuffer 2000000000
      
      git clone https://github.com/googlecartographer/cartographer_ros.git
      git clone https://github.com/googlecartographer/cartographer.git
      git clone https://github.com/ceres-solver/ceres-solver.git
      git clone https://github.com/protocolbuffers/protobuf.git

以上都是要安装的具体看官网；

如果报找不到就改：

1.安装编译 ceres-solver
    注意ceres-solver需要1.14版本而不是最新版本，一般没什么问题
    2. sudo gedit /usr/local/lib/cmake/Ceres/CeresConfig.cmake
      cd ceres-solver
      git checkout 1.14.0
    编译后看问题如果找不到就改：
    
      set(Ceres_FOUND TRUE)
      set(CERES_FOUND TRUE)

卸载

sudo rm -r /usr/local/lib/cmake/Ceres
    sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

以上不行就换

git clone https://github.com/hitcm/ceres-solver-1.11.0.git

参考博客：

[Cartographer最新版完整安装教程（2020.8.7成功安装）\_历尽千帆\_SLAM的博客-CSDN博客\_cartographer安装][Cartographer_2020.8.7_SLAM_-CSDN_cartographer]

[安装ceres-solver - anobscureretreat - 博客园][ceres-solver - anobscureretreat -]

官方：

[Cartographer — Cartographer documentation][Cartographer _ Cartographer documentation]

[GitHub - cartographer-project/cartographer\_ros: Provides ROS integration for Cartographer.][GitHub - cartographer-project_cartographer_ros_ Provides ROS integration for Cartographer.]

[Cartographer ROS Integration — Cartographer ROS documentation][Cartographer ROS Integration _ Cartographer ROS documentation]

修改 cartographer/cartographer\_ros/cartographer\_ros/configuration\_files/revo\_lds.lua

后要编译：

catkin_make_isolated --install --use-ninja
    source install_isolated/setup.bash

使用 cartographer ：

更改 map\_server

[GitHub - HaoQChen/map\_server: map\_server for Cartographer][GitHub - HaoQChen_map_server_ map_server for Cartographer]

[用自己的机器人实现cartographer建图测试与地图保存应该这样做\_「小白学移动机器人」一个专注分享移动机器人相关知识的公众号！-CSDN博客\_cartographer建图][cartographer_-CSDN_cartographer]

# 演示： #

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

# 地图坐标与里程计坐标关系 map2odom #

/home/iimt/workspace/workspace_ros_foodcar_jicui/src/controlmaster/launch/move_mapbuild.launch

# boost库的安装和使用 #

[boost库安装和使用 - CTHON - 博客园][boost_ - CTHON -]

根据报错显示说明为Boost库存在问题，此处只需要进行安装该库文件并在CMakeLists内制定库文件目录即可。

解决方案：  
1.安装库文件  
前往该库文件的官网（https://www.boost.org/）点击下载所需版本即可。  
此处下载当前（2021.4.4）最新稳定版本（1.75.0），点击 boost\_1\_75\_0.tar.gz 进行下载压缩包。随后将其解压并进入命令行进行源码安装。  
安装运行脚本命令如下，需要使用root权限进行运行。

sudo ./bootstrap.sh  
sudo ./b2

修改CMakeList.txt  
根据报错提示，找到报错的位置，打开文件进行修改。  
set(Boost\_INCLUDE\_DIRS /usr/include/boost)

# ros\_web #

[社区： Robot Web Tools][Robot Web Tools]

介绍：

[rosbridge\_suite入门教程-rosbridge\_suite介绍 - 创客智造][rosbridge_suite_-rosbridge_suite_ -]

安装：

sudo apt-get update
    sudo apt-get install ros-$ROS_DISTRO-rosbridge-suite ros-$ROS_DISTRO-robot-pose-publisher ros-$ROS_DISTRO-tf2-web-republisher
    sudo apt-get install ros-noetic-robot-state-publisher

与web交互参考：

# [ros与web的交互 - Yang-hao - 博客园][ros_web_ - Yang-hao -] #

## 工具的准备 ##

首先介绍以下所需要的工具包：rosbridge\_suite功能包，roslibjs,ros2djs，ros3djs。

● rosbridge\_suite:实现Web浏览器与ROS之间的数据交互；

● roslibjs:实现了ROS中的部分功能，如Topic,Service,URDF等；

● ros2djs:提供了二维可视化的管理工具，可以用来在Web浏览器中显示二维地图；

● ros3djs:提供了三维可视化的管理工具，可以在Web端显示三维模型。

在这几个功能包中，rosbridge\_suite是最重要的，它是Web和ROS沟通的桥梁，roslibjs也是必须的，它能实现ROS中最基本的功能，下面的例程就是用它来实现的，至于ros2djs和ros3djs是后期开发所需要的，对于新手来说可以暂时不用下载。它们的下载安装方法如下，在终端中分别输入以下指令：

sudo apt-get install ros-kinetic-rosbridge-suite
    sudo apt install node-grunt-cli
    git clone https://github.com/RobotWebTools/roslibjs.git
    git clone https://github.com/RobotWebTools/ros2djs
    git clone https://github.com/RobotWebTools/ros3djs

使用ROS Web的时候，我们首先要运行一个launch文件，便于Web端能够连接到ROS主机上，在终端中运行：

roslaunch rosbridge_server rosbridge_websocket.launch

在运行了这个launch文件后，我们只需要在浏览器中打开我们设计的html文件就能够实现Web端与ROS的交互了。

# 安装rosbridge,支持java与ROS通信 #

sudo apt-get install ros-noetic-rosbridge-server

*  2、启动

roscore
        roscd rosbridge_server
        roslaunch rosbridge_server rosbridge_websocket.launch
        #列出所有节点rosbridge_websocket
        rosnode list

与 Java测试 ，下载[java\_rosbridge][java_rosbridge]

参考

[在Ubuntu20.04中安装ROS Noetic - 简书][Ubuntu20.04_ROS Noetic -]

nginx安装：

[ubuntu安装nginx及使用\_laiyuan999的博客-CSDN博客\_ubuntu安装nginx][ubuntu_nginx_laiyuan999_-CSDN_ubuntu_nginx]

systemback

# Ubuntu 20.04上使用Systemback  #

[在Ubuntu 20.04上使用Systemback\_bluewhalerobot的博客-CSDN博客][Ubuntu 20.04_Systemback_bluewhalerobot_-CSDN]

[GitHub - BluewhaleRobot/systemback: fork of sysmteback, a useful system backup tool][GitHub - BluewhaleRobot_systemback_ fork of sysmteback_ a useful system backup tool]

笔记：

看内存情况：

lsblk

df -hl

df -ia  
删除：

sudo apt autoremove --purge snapd

sudo snap remove <package-name>

sudo apt-get install snapd

sudo apt-get install snapcraft

\-------------------------------------------

sudo apt-get remove --purge ninja

sudo apt-get remove --purge ninja\*

sudo apt install ninja-build

插入了一个10G的u盘后，使用如下命令  
mount /dev/sdb1 /tmp  
把它的分区也挂载到/tmp下就可以了，前提是文件系统可以识别，否则需要先格式化

[Index of _ubuntu-releases_20.04]: http://mirrors.aliyun.com/ubuntu-releases/20.04/
[ubuntu-20.04.3-desktop-amd64.iso]: http://mirrors.aliyun.com/ubuntu-releases/20.04/ubuntu-20.04.3-desktop-amd64.iso
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBA5YaN6YGH5b2T5bm0_size_20_color_FFFFFF_t_70_g_se_x_16]: /images/20220828/f0b6f644b9a64148a4c4ffdb44d7a924.png
[Legion Y7000P 2020_10_INTEL_GTX1650_ubuntu16.04_-CSDN]: https://blog.csdn.net/qq_15204179/article/details/119000914
[image-20201118151707815]: /images/20220828/26aa6846559d45acb8b9c17f74f488c0.png
[ROS_ rosdep update_leida_wt_-CSDN_rosdep update]: https://blog.csdn.net/leida_wt/article/details/115120940
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQzMDU4Mjgx_size_16_color_FFFFFF_t_70_pic_center]: /images/20220828/b0b312a8f21d49ee800348ed2e8359af.png
[SSH]: https://www.jianshu.com/p/8615e72d7207
[java_rosbridge]: https://links.jianshu.com/go?to=https%3A%2F%2Fgithub.com%2Fh2r%2Fjava_rosbridge
[Rosbridge]: https://links.jianshu.com/go?to=https%3A%2F%2Fgithub.com%2FRobotWebTools%2Frosbridge_suite%2Fblob%2Fgroovy-devel%2FROSBRIDGE_PROTOCOL.md
[rosbridge_suite]: https://links.jianshu.com/go?to=https%3A%2F%2Fgithub.com%2Frobotwebtools%2Frosbridge_suite
[https_www.realvnc.com_en_connect_download_viewer]: https://www.realvnc.com/en/connect/download/viewer/
[ubuntu_vnc viewer - _ -]: https://www.cnblogs.com/penny772866/p/5927796.html
[Ubuntu 20.04 _ -]: https://zhuanlan.zhihu.com/p/295422718
[robot_pose_ekf_package_ -]: https://www.jianshu.com/p/0c300b8a6a44#comments
[Index of _archive_qt_5.9_5.9.9]: https://download.qt.io/archive/qt/5.9/5.9.9/
[Ubuntu18_ ros-qtc-plugin_qt_ros_mhrobot_-CSDN]: https://blog.csdn.net/qq_36458461/article/details/109804075
[How to Install _Users_ _ ROS Qt Creator Plug-in documentation]: https://ros-qtc-plugin.readthedocs.io/en/latest/_source/How-to-Install-Users.html
[KylinV10_qt5.9_--linuxdeployqt_WenCoo_-CSDN]: https://blog.csdn.net/bootleader/article/details/116244008
[https_github.com_ros-planning_navigation.git]: https://github.com/ros-planning/navigation.git
[https_github.com_ROBOTIS-GIT_turtlebot3_msgs]: https://github.com/ROBOTIS-GIT/turtlebot3_msgs
[Joint state with name_ _base_l_wheel_joint_ was received but not found in URDF_Big_cai_-CSDN]: https://blog.csdn.net/Big_cai/article/details/112357009
[2-------------ros_ Cartographer_ninja_ceres-solver_cartographer_ros_Plus_-CSDN]: https://blog.csdn.net/weixin_43262513/article/details/88256762?utm_medium=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1.no_search_link&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~CTRLIST~default-1.no_search_link
[icon-default.png_t_L892]: /images/20220828/7f80527af1f540eb9546201fa693e055.png
[cartographer_ubuntu20.04 _ ROS Noetic_yqziqian2_-CSDN_icon-default.png_t_L892_https_blog.csdn.net_yqziqian2_article_details_118100338]: https://blog.csdn.net/yqziqian2/article/details/118100338
[google gflags _Just Coding_-CSDN]: https://blog.csdn.net/jcjc918/article/details/50876613
[google_gflags_glog_sunshine-CSDN]: https://blog.csdn.net/qq_36170626/article/details/103454176
[Cartographer_2020.8.7_SLAM_-CSDN_cartographer]: https://blog.csdn.net/weixin_39458342/article/details/103276265
[ceres-solver - anobscureretreat -]: https://www.cnblogs.com/sea-stream/p/9797470.html
[Cartographer _ Cartographer documentation]: https://google-cartographer.readthedocs.io/en/latest/
[GitHub - cartographer-project_cartographer_ros_ Provides ROS integration for Cartographer.]: https://github.com/cartographer-project/cartographer_ros
[Cartographer ROS Integration _ Cartographer ROS documentation]: https://google-cartographer-ros.readthedocs.io/en/latest/
[GitHub - HaoQChen_map_server_ map_server for Cartographer]: https://github.com/HaoQChen/map_server
[cartographer_-CSDN_cartographer]: https://blog.csdn.net/zhao_ke_xue/article/details/87875984
[boost_ - CTHON -]: https://www.cnblogs.com/cthon/p/9358969.html
[Robot Web Tools]: http://robotwebtools.org/
[rosbridge_suite_-rosbridge_suite_ -]: https://www.ncnynl.com/archives/201702/1375.html
[ros_web_ - Yang-hao -]: https://www.cnblogs.com/yang220/p/12491226.html
[Ubuntu20.04_ROS Noetic -]: https://www.jianshu.com/p/1efe8fe41800
[ubuntu_nginx_laiyuan999_-CSDN_ubuntu_nginx]: https://blog.csdn.net/laiyuan999/article/details/108503894
[Ubuntu 20.04_Systemback_bluewhalerobot_-CSDN]: https://blog.csdn.net/bluewhalerobot/article/details/106770362
[GitHub - BluewhaleRobot_systemback_ fork of sysmteback_ a useful system backup tool]: https://github.com/BluewhaleRobot/systemback