Ubuntu 系统配置

1、更新软件源

        使用ustc mirror  参考：https://mirrors.ustc.edu.cn/help/ubuntu.html

        先备份  sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

        再更新  （sources.list从ustc mirrors 上下载）

                sudo cp sources.list /etc/apt/

                sudo apt-get update             

2、升级内核

        查看内核版本  uname -r

        内核下载 kernel.ubuntu.com/~kernel-ppa/mainline/

        安装  dpkg -i *.deb

        重启 sudo reboot

3、GTX1050显卡驱动安装 

        https://blog.csdn.net/android_chunhui/article/details/78145498?utm_source=debugrun&utm_medium=referral

        注：若重装，一定要先卸载掉原来的驱动

                                sudo ./NVIDIA-Linux-x86_64-390.12.run --uninstall    

                                sudo apt-get remove --purge nvidia*

 

    cuda 安装

        https://developer.nvidia.com/cuda-80-ga2-download-archive

        https://www.linuxidc.com/Linux/2016-12/138849.htm

        https://docs.nvidia.com/cuda/cuda-installation-guide-linux/index.html#axzz4TcLN9lqd

4、挂载磁盘

        参考 http://aofengblog.blog.163.com/blog/static/6317021201101502540117/

        查看硬盘 df -lh

        查看磁盘  sudo fdisk -l

        分区 sudo fdisk /dev/sd**   (输入m显示帮助)

        格式化 sudo mkfs.ext4  /dev/***

        设置开机自动挂载：sudo vim /etc/fstab  添加  <file system> <mount point> <type> <options> <dump> <pass>

                注：    <file system>:最好使用UUID，通过sudo blkid 查询

                           dump：0-不备份，1-备份；pass(指定fsck检查硬盘)：0-不检查，大于0-检查（根分区必须为1，其它不能为1，按从小到大依次检查，相同则同时检查）

        权限不足：sudo chown -R oatrc:oatrc /media/oatrc/Data/  重启

    

5、gcc、g++多版本（4和5）

        安装：

                    sudo add-apt-repository ppa:ubuntu-toolchain-r/test

                    sudo apt-get update

                    sudo apt-get install gcc-5 g++-5

        添加到候选项：    

              sudo update-alternatives --install   <link> <name> <path> <priority>                

 

    例：sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 100

 

             选择版本：sudo update-alternatives --config gcc

6、安装ssh

       sudo apt-get install openssh-server

7、终端个性设置

        参考：https://blog.csdn.net/pipisorry/article/details/39584489

        备份：sudo cp ~/.bashrc   ~/.bsahrc.bak

        设置：sudo cp .bashrc  ~/     

8、Tab键补全设置

        sudo cp .inputrc ~/

9、输入法设置

        all settings -> Language Support --> remove/installLanguages

        all settings -> Text Entry  添加 Chinese（PinYin）默认双拼

        如果不行，参考http://www.linuxdiyf.com/linux/20344.html

        出现复制或双击时会删除选中的文本的解决办法：

                        终端中输入 ibus-setup，去掉 “在应用窗口中启用内嵌编辑模式(Embed preedit text .....)“

10、右键打开终端

       sudo apt-get install nautilus-open-terminal

        ubuntu14.04后面版本自带，无须安装

11、vim安装

        ubuntu自带的是vim.tiny

        安装vim.basic  : sudo apt-get install vim
 

        配置vim：参考 https://www.cnblogs.com/mo-wang/p/4550859.html

        sudo cp  vimrc  /etc/vim/

12、安装python3

        ubuntu14.04自带python2.7，安装3.5，可共存

       
        sudo apt-get update
        sudo apt-get install python3.5
        sudo rm /usr/bin/python   软连接，可以不用备份直接删

        sudo ln -s /usr/bin/python3.5 /usr/bin/python

13、安装chrome

        下载 ：wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb                   

                sudo dpkg -i google-chrome-stable_current_amd64.deb

14、安装java

       下载  www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html

        sudo mkdir -p /usr/local/java

        sudo cp jdk-8u171-linux-x64-demos.tar.gz jdk-8u171-linux-x64.tar.gz  /usr/local/java/

        sudo tar -xvf jdk-8u171-linux-x64-demos.tar.gz

        sudo tar -xvf jdk-8u171-linux-x64.tar.gz

        sudo rm jdk-8u171-linux-x64-demos.tar.gz jdk-8u171-linux-x64.tar.gz

        export JAVA_HOME=/usr/local/java/jdk1.8.0_171
        export JRE_HOME=${JAVA_HOME}/jre
        export CLASSPATH=.:${JAVA_HOME}/lib:${JRE_HOME}/lib
        export PATH=${JAVA_HOME}/bin:$PATH

        java --version

       

 

15、ROS

1、install          http://wiki.ros.org/kinetic/Installation/Ubuntu

 其中可能问题：

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

  注：使用python2，3可能报错                  

sudo rosdep init
rosdep update

注： 可能出现

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.

可能是没安装证书，

sudo apt-get install ca-certificates

也可直接用浏览器打开，手动新建      

 

   2、工作空间   

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

$ echo $ROS_PACKAGE_PATH  
(log:/home/youruser/catkin_ws/src:/opt/ros/kinetic/share)

16、Eigen、Paogolin

        sudo apt-get install libeigen3-dev

        https://github.com/stevenlovegrove/Pangolin

sudo apt-get install libglew-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

17、OpenCV多版本安装

        

sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

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

            下载opencv2和3 

            cmake安装 添加cmake选项 -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3.3

            使用时在cmakelists中添加  set(OpenCV_DIR /usr/local/opencv3.3/share/OpenCV) //区分大小写

附：

cmake 选项

cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local/opencv3.3.1/ \
-D INSTALL_C_EXAMPLE=ON \
-D INSTALL_PYTHON_EXAMPLE=ON \
-D OPENCV_EXTRA_MODULES_PATH=/home/oatrc/OpenCV/opencv_contrib-3.3.1/modules \
-D BUILD_EXAMPLES=ON .. 

extra modules：https://github.com/opencv/opencv_contrib 

 

18、KDevelop

        sudo apt-get install kdevelop

        配置：https://techbase.kde.org/Development/Tutorials/KDevelop/Creating_a_project_template

19、Matlab

        参考 https://blog.csdn.net/jesse_mx/article/details/53956358

        sudo ln -s /usr/local/MATLAB/R2016b/bin/matlab /usr/local/bin/matlab       

 

20、Ceres

        依赖：sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev libgtest-dev   libgoogle-glog-dev libgtest-dev  

          http://www.ceres-solver.org/