ubuntu18.04新机配置VinsMono环境博客整理（中文输入法、换源、ROS、Opencv、Eigen、Ceres、VinsMono）

ubuntu18.04新机配置VinsMono环境博客整理（中文输入法、换源、ROS、Opencv、Eigen、Ceres、VinsMono）

前言

ubuntu18.04从新机到能够跑通VinsMono环境配置博客整理，以便日后使用。

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1. ibus拼音输入法

ubuntu18.04安装虚拟机后，安装的是英文，需要安装中文输入环境，并可输入中文。
1.1 安装中文输入环境

1.2 安装ibus中文输入法

sudo apt-get install ibus ibus-clutter ibus-gtk ibus-gtk3 ibus-qt4
sudo im-config -s ibus
sudo apt-get install ibus-pinyin

1.3 配置ibus中文输入法

sudo reboot
sudo ibus-setup

1.4 将中文输入法配置到输入源

1.5 配置输入法切换组合键
进入设备

2. 换源

2.1 amd64架构

2.1.1 备份原来的源

sudo cp /etc/apt/sources.list /etc/apt/sources_init.list

2.1.2 换源

sudo gedit /etc/apt/sources.list

阿里源（18.04）

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

清华源（18.04）

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

网易源（18.04）

deb http://mirrors.163.com/ubuntu/ wily main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ wily-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ wily-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ wily-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ wily-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ wily main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ wily-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ wily-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ wily-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ wily-backports main restricted universe multiverse

2.1.3 更新

更新源

sudo apt-get update

修复损坏的软件包，重新安装正确版本

sudo apt-get -f install

更新软件

sudo apt-get upgrade

2.2 arm架构

在deb的ubuntu后加-ports即可

阿里源（18.04）

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

清华源（18.04）

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse

网易源（18.04）

deb http://mirrors.163.com/ubuntu-ports/ wily main restricted universe multiverse
deb http://mirrors.163.com/ubuntu-ports/ wily-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu-ports/ wily-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu-ports/ wily-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu-ports/ wily-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu-ports/ wily main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu-ports/ wily-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu-ports/ wily-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu-ports/ wily-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu-ports/ wily-backports main restricted universe multiverse

3. ROS安装

3.1 设置安装源
x64：

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'

arm：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu-ports/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

3.2 设置密钥

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

3.3 更新软件包

sudo apt update

• 如果出现如下错误：
  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。
• 解决方法：

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

3.4 安装ROS

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

3.5 rosdepc
安装

sudo pip install rosdepc

如果pip3还没有

sudo apt-get install python3-pip 
sudo pip install rosdepc

初始化

sudo rosdepc init

更新

rosdepc update

3.6 工作空间写入bashrc

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

为了构建和管理开发者自己的ROS工作空间，还需安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

3.7 Test
打开一个终端起roscore：

roscore

另一个终端运行小海龟例程：

rosrun turtlesim turtlesim_node

4. OPENCV+CONTRIB安装

4.1 下载安装包

1. opencv网址下载所需版本的source压缩包
2. opencv_contrib网址下载对应版本的contrib包
3. 下载好解压后，将opencv_contrib放在opencv文件夹里面（为方便后续操作，可将上面两个文件夹分别命名为opencv和opencv_conrib）

4.2 环境配置

sudo apt-get install build-essential 
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

4.3 安装

1. 在opencv文件夹下新建build文件夹

    cd opencv
    mkdir build
   

2. 在build路径下cmake

    cd build
    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..  
   

3. 完成后make

    sudo make
   

   • 可能出现的问题1：
     

   这是因为一些文件没有下载下来，不只此处的boostdesc_bgm.i，还有
   boostdesc_bgm_bi.i
   boostdesc_bgm_hd.i
   boostdesc_binboost_064.i
   boostdesc_binboost_128.i
   boostdesc_binboost_256.i
   vgg_generated_120.i
   vgg_generated_64.i
   vgg_generated_80.i
   vgg_generated_48.i

   • 解决办法：下载缺失的文件，然后拷贝到xfeatures2d/src下面
   • 可能出现的问题2：
     

   用cuda.hpp的绝对路径替换报错文件中的路径

4. 执行make install命令

    sudo make install
   

5. 添加路径

    sudo gedit /etc/ld.so.conf.d/opencv.conf 
   

   添加如下内容：

    /usr/local/lib
   

   保存后终端输入：

    sudo ldconfig
   

   再输入：

    sudo gedit /etc/bash.bashrc
   

   打开后在末尾输入

    PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
    export PKG_CONFIG_PATH
   

   保存退出，终端输入：

    source /etc/bash.bashrc
   

4.4 Test
进入opencv/samples/cpp/example_cmake目录下，终端打开，依次输入：

cmake .
make
./opencv_example

5. Eigen

sudo apt-get install libeigen3-dev

可输入以下命令寻找安装位置：

sudo updatedb
locate eigen3

6. Ceres

1. 访问源代码网址：ceres-solver，在右侧Tags下找到1.14.0的压缩包进行下载(tar.gz和zip都可以)。

2. 安装ceres相关依赖：

    sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
   

3. 解压压缩包，在终端进入该目录，然后新建build文件夹，进入build中：

    tar -zxvf ceres-solver-1.14.0.tar.gz 
    cd ceres-solver-1.14.0/
    mkdir build
    cd build/
   

4. cmake命令根据CMakeLists.txt对工程进行分析，make根据生成的Makefile文件对工程进行编译。最后make install安装即可!

    cmake ..
    make
    sudo make install
   

5. 安装完成后，可以在/usr/local/include/ceres下找到Ceres的头文件，并在/usr/local/lib/下找到名为libceres.a的库文件。如果能找到就代表安装成功了。

7. VinsMono

6.1 下载源码
于VINS-Mono下载源码
或使用git命令：

git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

6.2 构建工作空间并编译

1. cd到所建的工作空间文件夹(以catkin_ws为例)并新建src文件夹

    cd /catkin_ws
    mkdir src
   

2. 将下载的压缩包解压到src中

3. 编译

    cd src
    catkin_make
   

6.3 Test
下载测试包EuRoc
打开三个终端，分别启动vins_estimator，rviz和播放包文件。以MH_01为例：

source ~/catkin_ws/devel/setup.bash 
#每个终端运行前都要加上这一句

roslaunch vins_estimator euroc.launch 
roslaunch vins_estimator vins_rviz.launch
rosbag play ~/Your_Data_Path/MH_01_easy.bag

运行成功如下

引用博客

1. 安装ibus输入法 by 长沙红胖子Qt
2. 换源 by 泉伟
3. ROS安装 by 爱跑步的mango
4. rosdep update问题解决 by 长沙有肥鱼
5. Opencv+contrib by 清雨静韵
6. Opencv+contrib编译问题解决 by 去你个锤子
7. Ceres by 振华OPPO
8. VinsMono配置 by ww旭ww