Ubuntu安装、重装

echo_gou

已于 2023-03-29 16:05:52 修改

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分类专栏： # Linux 文章标签： linux

于 2022-03-14 15:14:15 首次发布

本文链接：https://blog.csdn.net/echo_gou/article/details/123479319

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系统安装

手动分配各区：一共700-800g

/home 512g 512000

/usr:150g 153600

/swap:48g 49152

/tmp:30g 30720

/var:30g 30720

/efi:3g（这里使用efi启动而不是boot）3072

else:20g 20480

都是逻辑分区

也可以不单独设置tmp var else这三个，只需要将 / 分区设置成20+30+30＝80g大小，安装时自动分配给这三个。

这里注意要将启动方式设置成uefi的方式而不是legacy的方式，uefi对应efi的启动

换源

sudo gedit /etc/apt/sources.list

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-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed 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

sudo apt-get update

搜狗安装

Ubuntu系统下的搜狗输入法安装_ubuntu下载搜狗输入法_凯der苦练心态的博客-CSDN博客

sudo apt install fcitx

菜单选择语言支持，将语言选择为fcitx

sudo cp /usr/share/applications/fcitx.desktop /etc/xdg/autostart/
sudo apt purge ibus

官网下载安装包：下载x86_64

安装：sudo dpkg -i xxxx

安装依赖：

sudo apt install libqt5qml5 libqt5quick5 libqt5quickwidgets5 qml-module-qtquick2
sudo apt install libgsettings-qt1

重启即生效

安装驱动：（重装好像不需要？）

要先装gcc不然会报错

Ubuntu驱动安装闭坑_echo_gou的博客-CSDN博客

环境安装

编译工具：

 sudo apt-get install cmake
 sudo apt-get install git
 sudo apt-get install gcc g++

Eigen3.3.7

参考：ORB-SLAM2详细安装教程(ubuntu18.04)_ubuntu安装orbslam2_牙牙要健康的博客-CSDN博客

Releases · libeigen / eigen · GitLab

mkdir build
cd build
cmake ..
sudo make install

PCL 1.9.1

参考：Ubuntu18.04安装PCL 1.9.1(图文详解，附踩坑和测试)_ubuntu安装pcl_振华OPPO的博客-CSDN博客

pcl的依赖：

sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev 
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt
sudo apt-get install libvtk7.1
sudo apt-get install libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre

sudo apt-get install libvtk7-qt-dev 出错：

解决：

sudo apt-get install libvtk7-jni=7.1.1+dfsg1-2

参考

vtk的依赖：

sudo apt-get install cmake-curses-gui
sudo apt-get install freeglut3-dev

vtk8.2.0下载：Download | VTK

cd build
cmake ..
make -j15
sudo make install

装pcl：

Releases · PointCloudLibrary/pcl · GitHub

cd build
cmake ..
make -j15
sudo make install

测试：

#新建CMakeLists.txt文件：
cmake_minimum_required(VERSION 2.6)
project(pcl_test)
 
find_package(PCL 1.2 REQUIRED)
 
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
 
add_executable(pcl_test pcl_test.cpp)
 
target_link_libraries (pcl_test ${PCL_LIBRARIES})
 
install(TARGETS pcl_test RUNTIME DESTINATION bin)


#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
 
int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
	point.rgb = *reinterpret_cast<float*>(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

编译运行:

报错：

error while loading shared libraries: libvtkglew-7.1.so.1: cannot open shared object file: No such file or directory

解决办法：参考
sudo gedit /etc/ld.so.conf
将/usr/local/lib/libvtkglew-7.1.so.1，复制过去，然后保存：
sudo ldconfig # 因为我们修改了/etc/ld.so.conf，所以需要这个命令来生成一个新的/etc/ld.so.cache

报错：

解决：

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
参考

最后./执行：

OpenCV 3.2.0

参考

安装

下载代码：

https://github.com/opencv/opencv/archive/3.2.0.tar.gz
https://github.com/opencv/opencv_contrib/archive/3.2.0.tar.gz

Releases - OpenCV

依赖：

sudo apt-get -y install build-essential checkinstall cmake git pkg-config yasm

sudo apt-get -y install libavcodec-dev libavformat-dev libswscale-dev

sudo apt install -y vim git cmake

sudo apt-get -y install libtbb-dev libtbb2

sudo apt-get -y install libqt4-dev libgtk2.0-dev

sudo apt-get -y install x264 v4l-utils ffmpeg libxvidcore-dev libx264-dev

sudo apt-get -y install libgtk2.0-dev

sudo apt-get install libatlas-base-dev gfortran

sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

sudo apt install python3-numpy

安装：

注意其中的OPENCV_EXTRA_MODULES_PATH需要改成自己的路径，最好是科学上网。

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_EXTRA_MODULES_PATH=/home/gzy/my_local_lib/opencv_contrib-3.2.0/modules -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON3_EXECUTABLE=/usr/bin/python3 -DPYTHON3_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.6m.so -DPYTHON3_INCLUDE_DIR=/usr/include/x86_64-linux-gnu/python3.6m -DPYTHON3_NUMPY_INCLUDE_DIRS=/usr/local/lib/python3.6/dist-packages/numpy/core/include -DBUILD_opencv_python2=OFF -DBUILD_opencv_python3=OFF -DWITH_OPENCL=OFF -DWITH_CUDA=OFF -DBUILD_DOCS=OFF -DBUILD_EXAMPLES=OFF -DOPENCV_ENABLE_NONFREE:BOOL=ON -DBUILD_TESTS=OFF ..

make -j15
sodu make install

---------------------------------------------------------------------------------------------

出错：

1 . cmake出错

一个个安装即可：

eg：

sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev

2.cmake错

sudo apt install python-numpy
sudo apt install python3-numpy

3.make错

参考

sudo apt-get install liblapacke-dev checkinstall

修改出现问题的文件，例如我的文件是
opencv-3.2.0/build/opencv_lapack.h
将第二行中的#include"LAPACKE_H_PATH-NOTFOUND/lapacke.h" 修改为#include"lapacke.h"即可

验证：

pkg-config opencv --modversion

配置Pangolin0.5、不然会报错

 sudo apt-get install libglew-dev

下载：文件 · v0.6 · mirrors / stevenlovegrove / pangolin · GitCode

安装：

cd pangolin-v0.6
mkdir build
cd build 
cmake ..
make -j15		
sudo make install

配置Sophus

下载

git clone https://gitee.com/zhuang_dengxiang/Sophus.git

cd Sophus
mkdir build
cd build
cmake ..
make -j16
sudo make install

ROS安装

参考：Ubuntu18.04安装ROS Melodic（详细，亲测安装完成，有清晰的截图步骤）_鱼香ros安装_爱跑步的mango的博客-CSDN博客

执行下面的要把“v/p n”关闭才行

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'
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update

出错：

W: GPG 错误：http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease: 由于没有公钥，无法验证下列签名： NO_PUBKEY F42ED6FBAB17C654
E: 仓库 “http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease” 没有数字签名。
N: 无法安全地用该源进行更新，所以默认禁用该源。
N: 参见 apt-secure(8) 手册以了解仓库创建和用户配置方面的细节。

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

sudo apt-get install ros-melodic-desktop-full

出错：

解决：

ls /var/lib/dpkg/lock-frontend
sudo rm -r -f /var/lib/dpkg/lock-frontend
sudo  rm  -r -f /var/lib/dpkg/lock

sudo apt install python-rosdep
sudo rosdep init

出错：

sudo gedit /etc/hosts

在这个网址中输入：raw.githubusercontent.com

ip查询查ip 网站ip查询同ip网站查询 iP反查域名 iP查域名同ip域名

挑一个输入到第三行

然后重新执行sudo rosdep init即可

rosdep update    #可能需要多执行几次，可以试试流量或者科学上网

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

启动ros前：环境变量

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

测试：

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

配置kinect

ros下用kinectv2运行orbslam2_echo_gou的博客-CSDN博客

其他软件安装

1.terminator

ubuntu配置terminator-CSDN博客

echo_gou

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Ubuntu安装、重装

手动分配各区：一共700-800g/home 512g 512000/usr:150g 153600/swap:48g 49152/tmp:30g 30720/var:30g 30720/efi:3g（这里使用efi启动而不是boot）3072else:20g 20480搜狗安装https://jingyan.baidu.com/article/0a52e3f4fa2ba8bf63ed724d.html卸载ibushttps://jingyan.b......
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