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

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/

          下载：ubuntu-20.04.3-desktop-amd64.iso

    3.用软碟通ultraISO制作系统U盘

 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

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

 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

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

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

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，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_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/

ubuntu下使用vnc viewer - 屁屁撒花啦啦啦 - 博客园

Ubuntu 20.04 自带远程桌面体验 - 知乎

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: : integer, : float, : "True"/"False",
        ### : "String", : " Hz/kHz/MHz",
        ### : "%"
        ### [arg]: arg optional
        #Option     "Accel"              	# []
        #Option     "AccelMethod"        	# 
        #Option     "Backlight"          	# 
        #Option     "CustomEDID"         	# 
        #Option     "DRI"                	# 
        #Option     "Present"            	# []
        #Option     "ColorKey"           	# 
        #Option     "VideoKey"           	# 
        #Option     "Tiling"             	# []
        #Option     "LinearFramebuffer"  	# []
        #Option     "HWRotation"         	# []
        #Option     "VSync"              	# []
        #Option     "PageFlip"           	# []
        #Option     "SwapbuffersWait"    	# []
        #Option     "TripleBuffer"       	# []
        #Option     "XvPreferOverlay"    	# []
        #Option     "HotPlug"            	# []
        #Option     "ReprobeOutputs"     	# []
        #Option     "XvMC"               	# []
        #Option     "ZaphodHeads"        	# 
        #Option     "VirtualHeads"       	# 
        #Option     "TearFree"           	# []
        #Option     "PerCrtcPixmaps"     	# []
        #Option     "FallbackDebug"      	# []
        #Option     "DebugFlushBatches"  	# []
        #Option     "DebugFlushCaches"   	# []
        #Option     "DebugWait"          	# []
        #Option     "BufferCache"        	# []
	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

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

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

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

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

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

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

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.后看 

最新cartographer安装：使用ubuntu20.04 + ROS Noetic_yqziqian2的博客-CSDN博客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

安装google的gflags和glog

安装google的gflags和glog_sunshine-CSDN博客

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

安装ceres-solver - anobscureretreat - 博客园

官方：

Cartographer — Cartographer documentation

GitHub - cartographer-project/cartographer_ros: Provides ROS integration for Cartographer.

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

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

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

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

介绍：

rosbridge_suite入门教程-rosbridge_suite介绍 - 创客智造

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

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

 参考

在Ubuntu20.04中安装ROS Noetic - 简书

nginx安装：

ubuntu安装nginx及使用_laiyuan999的博客-CSDN博客_ubuntu安装nginx

systemback

Ubuntu 20.04上使用Systemback 

在Ubuntu 20.04上使用Systemback_bluewhalerobot的博客-CSDN博客

 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

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