ubuntu18.04 RoboCup实物

 1、安装cuda

`参考网址

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
如果报错没有公钥后：

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv A4B469963BF863CC

否则继续:
sudo apt-get update

wget http://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/nvidia-machine-learning-repo-ubuntu1804_1.0.0-1_amd64.deb
sudo apt install ./nvidia-machine-learning-repo-ubuntu1804_1.0.0-1_amd64.deb
sudo apt-get update

`继续

sudo apt install libcudnn7

`按照仓库

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2、安装opencv

sudo apt install libopencv-dev

查看opencv版本
pkg-config --modversion opencv

查看opencv路径
pkg-config --cflags opencv

查看opencv的包
pkg-config --libs opencv

3、安装sdkmanage

解压sdkmanager_1.6.1-8175_amd64.deb后：

更新网址:sdkmanager

sudo apt install ./sdkmanager_1.6.1-8175_amd64.deb 

4、MVSDK

解压MVSDK.7z后在文件夹中

chmod +x install.sh
sudo sh ./install.sh

5、cudnn

解压压缩文件：cudnn-10.2-linux-x64-v7.6.5.32.tgz

cd cuda/

sudo cp include/cudnn.h /usr/local/cuda/include/

sudo cp lib64/libcudnn* /usr/local/cuda/lib64/

6、安装仓库遇到问题：

1）pip3 install paramiko：

Command "python setup.py egg_info" failed with error code 1 in /tmp/pip-build-qi7wxyks/cryptography/

输入

pip3 install setuptools_rust

2)pip3 install transitions

Command "/usr/bin/python3 -u -c "import setuptools, tokenize;__file__='/tmp/pip-build-pzcbuus2/cryptography/setup.py';f=getattr(tokenize, 'open', open)(__file__);code=f.read().replace('\r\n', '\n');f.close();exec(compile(code, __file__, 'exec'))" install --record /tmp/pip-zkytx5ga-record/install-record.txt --single-version-externally-managed --compile --user --prefix=" failed with error code 1 in /tmp/pip-build-pzcbuus2/cryptography/

pip3 install --upgrade pip

3)升级cmake

sudo apt purge cmake

sudo snap install cmake --classic

4)安装TX2

sudo cp -r  ~/JetsonTX2/* ./

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最终发现是机器人身体18.04的cuda为9.0但正常18.04系统无法安装cuda9.0交叉编译包。原因是SDKmanage不支持在18.04降级安装，考虑将机器人系统中cuda升级为10.