orin nx安装应用环境
安装ROS
ref：
http://wiki.ros.org/noetic/Installation/Ubuntu
- 添加ros源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
- 设置keys
sudo apt install curl
iking@iking:~/tuning/QMI$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
OK
- 查看Noetic 包
apt-cache search ros-noetic-*
- 安装
sudo apt install ros-noetic-desktop-full
- 添加环境变量
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
- 安装依赖
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
- 初始化rosdep
iking@iking:~/tuning/QMI$ sudo rosdep init
Wrote /etc/ros/rosdep/sources.list.d/20-default.list
Recommended: please run
rosdep update
iking@iking:~/tuning/QMI$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Add distro "jazzy"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/iking/.ros/rosdep/sources.cache
上面运行超时，多执行几次。
netplan设置ip
ref：
https://www.serverlab.ca/tutorials/linux/administration-linux/how-to-configure-networking-in-ubuntu-20-04-with-netplan/
- 安装netplan
sudo apt install netplan.io
- 创建/etc/netplan/00-installer-config.yaml文件
network:
renderer: NetworkManager
version: 2
ethernets:
eth0:
addresses:
- 192.168.1.123/24
gateway4: 192.168.1.1
nameservers:
addresses:
- 8.8.8.8
- 8.8.4.4
wifis:
wlan0:
dhcp4: true
access-points:
"abc":
password: "12345678"
可以使用下面指令进行语法检查
sudo netplan generate
- 应用这个配置。
netplan apply
网络信息如下：
docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255
ether 02:42:df:13:5f:f3 txqueuelen 0 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.1.123 netmask 255.255.255.0 broadcast 192.168.1.255
inet6 fe80::3e6d:66ff:fe03:9243 prefixlen 64 scopeid 0x20<link>
ether 3c:6d:66:03:92:43 txqueuelen 1000 (Ethernet)
RX packets 1339 bytes 125920 (125.9 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 1061 bytes 138347 (138.3 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 50 base 0xd000
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 376 bytes 34277 (34.2 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 376 bytes 34277 (34.2 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 172.20.10.2 netmask 255.255.255.240 broadcast 172.20.10.15
inet6 2409:8903:9324:b2ef:9aa1:4aff:fe7c:15b8 prefixlen 64 scopeid 0x0<global>
inet6 2409:8903:9324:b2ef:6a42:de69:46fc:a6ca prefixlen 64 scopeid 0x0<global>
inet6 fe80::9aa1:4aff:fe7c:15b8 prefixlen 64 scopeid 0x20<link>
ether 98:a1:4a:7c:15:b8 txqueuelen 1000 (Ethernet)
RX packets 79 bytes 15419 (15.4 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 305 bytes 39899 (39.8 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
- 查看连接状态
wpa_cli -i wlan0 status
- 列出wifi热点
nmcli device wifi list
当然连接wifi可以使用下面方式
# apt-get install wpasupplicant # apt-get install udhcpc #wpa_supplicant -Dnl80211 -i wlan0 -c /etc/wpa_supplicant.conf & #udhcpc -i wlan0 & ``` wpa_supplicant.conf文件内容如下： ctrl_interface=/var/run/wpa_supplicant network={ ssid="abc" proto=WPA RSN key_mgmt=WPA-PSK pairwise=CCMP group=CCMP psk="12345678" }
ref:
https://blog.csdn.net/Dontla/article/details/128201551
设置自启动
- 设置/lib/systemd/system/rc-local.service服务
[Unit]
Description=/etc/rc.local Compatibility
Documentation=man:systemd-rc-local-generator(8)
ConditionFileIsExecutable=/etc/rc.local
After=network.target
[Service]
Type=forking
ExecStart=/etc/rc.local start
TimeoutSec=0
RemainAfterExit=yes
GuessMainPID=no
[Install]
WantedBy=multi-user.target
Alias=rc-local.service
- 开启rc-local服务
systemctl enable rc-local.service
- 创建/etc/rc.local文件，并写入需要自启动的东西
如果要执行shell脚本第一行写入：
#!/bin/bash
音频设备
iking@iking:~$ cat /proc/asound/cards
0 [HDA ]: tegra-hda - NVIDIA Jetson Orin NX HDA
NVIDIA Jetson Orin NX HDA at 0x3518000 irq 112
1 [APE ]: tegra-ape - NVIDIA Jetson Orin NX APE
NVIDIA Jetson Orin NX APE
2 [Device ]: USB-Audio - USB Audio Device
C-Media Electronics Inc. USB Audio Device at usb-0001:01:00.0-3, full speed
iking@iking:~$ aplay -D plughw:2,0 Side_Right.wav
xcb_connection_has_error() returned true
Playing WAVE 'Side_Right.wav' : Signed 16 bit Little Endian, Rate 48000 Hz, Mono
iking@iking:~$ ^C
iking@iking:~$ aplay -D plughw:2,0 Side_Right.wav
xcb_connection_has_error() returned true
Playing WAVE 'Side_Right.wav' : Signed 16 bit Little Endian, Rate 48000 Hz, Mono