树莓派安装系统后的全部代码（后面不知hector_SLAM如何做map的可以从这里面挑代码尝试）

1  clear
    2  ifconfig
    3  sudo apt install net-tools
    4  sudo timedatectl set-timezone Asia/Shanghai
    5  sudo apt install net-tools
    6  sudo apt-get update
    7  sudo apt install net-tools
    8  sudo timedatectl set-timezone Asia/Shanghai
    9  datetime
   10  datetimectl
   11  timedatectl
   12  date
   13  sudo apt install net-tools
   14  sudo apt-get update
   15  sudo apt install net-tools
   16  reboot
   17  sudo apt install net-tools
   18  ifconfig
   19  clear
   20  vim /etc/ssh/sshd_config
   21  sudo vim /etc/ssh/sshd_config
   22  clear
   23  service sshd restart
   24  clear
   25  ls
   26  echo "deb http://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros-focal.list
   27  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   28  sudo apt update
   29  sudo apt install ros-noetic-desktop
   30  git clone https://github.com/YDLIDAR/YDLidar-SDK.git
   31  cd YDLidar-SDK/build
   32  ls
   33  cd YDLidar-SDK/
   34  ls
   35  ls | grep build
   36  ls
   37  cmake ..
   38  cmake
   39  cmake .
   40  ls
   41  cd build
   42  ls
   43  make
   44  ls
   45  find . -name "build"
   46  cd ..
   47  find . -name "build"
   48  cd cmake
   49  ls
   50  cd YDLidar-SDK/
   51  ls
   52  cd cmake/
   53  ls
   54  make
   55  sudo make install
   56  cd ..
   57  sudo make install
   58  make
   59  cd ..
   60  ls
   61  source /opt/ros/noetic/setup.bash
   62  echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
   63  rm -r YDLidar-SDK
   64  git clone https://github.com/YDLIDAR/YDLidar-SDK.git
   65  cd YDLidar-SDK/build
   66  ls
   67  cd YDLidar-SDK/
   68  ls
   69  cmake ..
   70  cmake
   71  roscd
   72  roscore
   73  cd ~
   74  ls
   75  cd YDLidar-SDK/
   76  ls
   77  cmake ..
   78  sudo make install
   79  cd ..
   80  git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git ydlidar_ws/src/ydlidar_ros_driver
   81  apt-get install gnutls-bin
   82  sudo apt-get install gnutls-bin
   83  git config --global http.sslVerify false
   84  git config --global http.postBuffer 1048576000
   85  git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git ydlidar_ws/src/ydlidar_ros_driver
   86  reboot
   87  sudo reboot
   88  ls
   89  cd ydlidar_ws/
   90  ls
   91  cd src/
   92  ls
   93  cd ydlidar_ros_driver/
   94  ls
   95  cd launch/
   96  ls
   97  vim
   98  vim X2.launch
   99  vim X3-Pro.launch
  100  ls /dev/ | grep USB
  101  vim X3-Pro.launch
  102  vim lidar_view.launch
  103  vim X3-Pro.launch
  104  ls
  105  roslaunch ydlidar_ros_driver X4.launch
  106  rviz
  107  ifconfig
  108  ls
  109  cd ydlidar_ws/
  110  ls
  111  cd src/
  112  ls
  113  cd ydlidar_ros_driver
  114  ls
  115  cd launch/
  116  ls
  117  vim X3-Pro.launch
  118  vim lidar_view.launch
  119  roslaunch ydlidar_ros_driver X3-Pro.launch
  120  roslaunch ydlidar_ros_driver X4.launch
  121  roslaunch ydlidar_ros_driver X3-pro.launch
  122  ls
  123  cd ydlidar_ws
  124  ls
  125  cd src/
  126  ls
  127  cd ydlidar_ros_driver/
  128  ls
  129  cd launch/
  130  ls
  131  cd ydlidar_ws
  132  ls
  133  cd src/
  134  ls
  135  cd ydlidar_ros_driver/
  136  ls
  137  cd launch/
  138  ls
  139  roslaunch ydlidar lidar_view.launch
  140  roslaunch ydlidar_ros_driver lidar_view.launch
  141  roslaunch ydlidar_ros_driver all_nodes.launch
  142  roslaunch ydlidar_ros_driver X3-Pro.launch
  143  rosrun tf view_frames
  144  vim /opt/ros/noetic/lib/tf/view_frames
  145  sudo vim /opt/ros/noetic/lib/tf/view_frames
  146  rosrun tf view_frames
  147  sudo vim /opt/ros/noetic/lib/tf/view_frames
  148  ls
  149  cd ydlidar_ws/
  150  ls
  151  cd src/
  152  cd ydlidar_ros_driver/
  153  ls
  154  cd launch/
  155  ls
  156  vim all_nodes.launch
  157  cd src/
  158  vim all_nodes.launch
  159  find . -name geotiff_mapper.launch
  160  find / -name geotiff_mapper.launch
  161  roslaunch ydlidar_ros_driver lidar_view.launch
  162  roslaunch ydlidar_ros_driver ydlidar_launch_view.py
  163  roslaunch ydlidar_ros_driver lidar_view.launch
  164  ls
  165  cd ydlidar_ws/
  166  ls
  167  cd src/
  168  ls
  169  cd ydlidar_ros_driver/
  170  ls
  171  rosrun tf view_frames
  172  roslaunch hector_slam_launch all_nodes.launch
  173  roslaunch hector_slam_launch tutorial.launch
  174  roslaunch ydlidar_ros_driver all_nodes.launch
  175  roscore
  176  roslaunch hector_slam_launch tutorial.launch
  177  roslaunch ydlidar_ros_driver X3-Pro.launch
  178  sudo apt-get install ros-indigo-hector-slam
  179  sudo apt-get install ros-noetic-hector-slam
  180  wget https://storage.googleapis.com/google-code-archive-downloads/v2/code.google.com/tu-darmstadt-ros-pkg/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
  181  export TURTLEBOT3_MODEL=waffle_pi
  182  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  183  sudo apt-get install ros-noetic-turtlebot3
  184  $ export TURTLEBOT3_MODEL=waffle_pi
  185  export TURTLEBOT3_MODEL=waffle_pi
  186  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  187  ls
  188  source /home/gabriel/catkin_ws/devel/setup.bash
  189  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  190  roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=hector
  191  ls
  192  mkdir -p hector_ws/src
  193  cd hector_ws
  194  cd src
  195  sudo apt install git
  196  git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
  197  cd ../
  198  catkin_make
  199  roslaunch turtlebot3_gazebo turtlebot3_world.launch
  200  roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=hector
  201  roslaunch ydlidar_ros_driver all_nodes.launch
  202  top
  203  roslaunch ydlidar_ros_driver lidar_view.launch
  204  source catkin_ws/devel/setup.bash
  205  roslaunch wpr_simulation wpr_stage_slam.launch
  206  source catkin_ws/devel/setup.bash
  207  roslaunch wpr_simulation wpr_stage_slam.launch
  208  ls
  209  roslaunch wpr_simulation wpr_stage_slam.launch
  210  source catkin_ws/devel/setup.bash
  211  roslaunch wpr_simulation wpr_stage_slam.launch
  212  rviz
  213  source catkin_ws/devel/setup.bash
  214  roslaunch wpr_simulation wpb_stage_slam.launch
  215  rosrun hector_mapping hector_mapping
  216  roslaunch wpr_simulation wpb_stage_slam.launch
  217  source catkin_ws/devel/setup.bash
  218  roslaunch wpr_simulation wpb_stage_slam.launch
  219  source catkin_ws/devel/setup.bash
  220  roslaunch wpr_simulation wpb_stage_slam.launch
  221  rosrun hector_mapping hector_mapping
  222  ls
  223  rosrun hector_mapping hector_mapping
  224  roscd hector_slam
  225  ls
  226  cd ..
  227  ls
  228  ls | grep mapper
  229  cd ..
  230  ls
  231  ls
  232  cd catkin_ws/
  233  ls
  234  cd src/
  235  ls
  236  cd ~
  237  cd ydlidar_ws/
  238  ls
  239  cd src/
  240  ls
  241  cd ydlidar_ros_driver/
  242  ls
  243  cd launch/
  244  ls
  245  roslaunch ydlidar_ros_driver all_nodes.launch
  246  ls
  247  vim all_nodes.launch
  248  roslaunch ydlidar_ros_driver all_nodes.launch
  249  vim all_nodes.launch
  250  ifconfig
  251  rosrun hector_mapping hector_mapping
  252  roslaunch ydlidar_ros_driver all_nodes.launch
  253  rosrun hector_mapping hector_mapping
  254  roscore
  255  rviz
  256  roslaunch ydlidar_ros_driver X3-Pro.launch
  257  rviz
  258  rosrun hector_mapping hector_mapping
  259  rviz
  260  source catkin_ws/devel/setup.bash
  261  roslaunch wpr_simulation wpr_simulation
  262  source catkin_ws/devel/setup.bash
  263  roslaunch wpr_simulation wpr_simulation
  264  source catkin_ws/devel/setup.bash
  265  roslaunch wpr_simulation wpr_simulation
  266  roslaunch wpr_simulation wpr_simulation
  267  source catkin/devel/setup.bash
  268  source catkin_ws/devel/setup.bash
  269  rviz
  270  roslaunch wpr_simulation wpr_simulation
  271  roslaunch ydlidar_ros_driver X3-Pro.launch
  272  rosrun hector_mapping hector_mapping
  273  find . -name "hector_mapping"
  274  cd catkin_ws/devel/setup.bash
  275  cd catkin_ws/devel/
  276  ls
  277  cat setup.bash
  278  cd ~
  279  vim ./hector_ws/build/hector_slam/hector_mapping/catkin_generated/stamps/hector_mapping
  280  find . -name "hector_mapping"
  281  vim ./hector_ws/devel/include/hector_mapping
  282  cat ./hector_ws/src/hector_slam/hector_mapping
  283  cat ./hector_ws/build/hector_slam/hector_mapping/catkin_generated/stamps/hector_mapping
  284  cat ./hector_ws/devel/lib/hector_mapping
  285  cat ./hector_ws/devel/lib/hector_mapping/hector_mapping
  286  find . -name "hector_mapping"
  287  cat ./hector_ws/devel/share/hector_mapping
  288  cat ./hector_ws/devel/share/roseus/ros/hector_mapping
  289  cat ./hector_ws/devel/share/common-lisp/ros/hector_mapping
  290  cat ./hector_ws/devel/share/gennodejs/ros/hector_mapping
  291  ls
  292  cd ydlidar_ws/
  293  ls
  294  cd src/
  295  ls
  296  cd ydlidar_ros_driver/
  297  ls
  298  cd launch/
  299  ls
  300  cat X3-Pro.launch
  301  vim X3-Pro.launch
  302  roslaunch ydlidar_ros_driver X3-Pro.launch
  303  rviz
  304  roscore
  305  clear
  306  roslaunch ydlidar_ros_driver X3-Pro.launch
  307  roslaunch hector_slam_launch All_nodes.launch
  308  roslaunch hector_slam_launch slam.launch
  309  ls
  310  cd cd ~/ydlidar_ws/src/hector_slam/hector_slam_launch/launch/
  311  cd ~/ydlidar_ws/src/hector_slam/hector_slam_launch/launch/
  312  sudo vim All_nodes.launch
  313  cd ~/ydlidar_ws
  314  catkin_make
  315  source ~/ydlidar_ws/devel/setup.bash
  316  roslaunch hector_slam_launch All_nodes.launch
  317  cd ~/ydlidar_ws/src/hector_slam/hector_slam_launch/launch/
  318  sudo vim All_nodes.launch
  319  cd ~/ydlidar_ws
  320  catkin_make
  321  source ~/ydlidar_ws/devel/setup.bash
  322  roslaunch hector_slam_launch All_nodes.launch
  323  cd ~/ydlidar_ws/src/hector_slam/hector_slam_launch/launch/
  324  sudo vim All_nodes.launch
  325  roslaunch hector_slam_launch All_nodes.launch
  326  sudo vim All_nodes.launch
  327  roslaunch hector_slam_launch All_nodes.launch
  328  sudo vim All_nodes.launch
  329  roslaunch hector_slam_launch All_nodes.launch
  330  ls
  331  vim slam.launch
  332  vim hector_mapping.launch
  333  vim geotiff_mapper.launch
  334  ls
  335  cd ydlidar_ws/
  336  ls
  337  cd src/
  338  ls
  339  cd ydlidar_ros_driver/
  340  ls
  341  cd launch/
  342  ls
  343  vim X3-Pro.launch
  344  vim all_nodes.launch
  345  ls
  346  vim X3-Pro.launch
  347  cd ~/ydlidar_ws
  348  catkin_make
  349  source ~/ydlidar_ws/devel/setup.bash
  350  roslaunch ydlidar_ros_driver X3-Pro.launch
  351  roslaunch hector_slam_launch hector.launch
  352  source ~/ydlidar_ws/devel/setup.bash
  353  roslaunch hector_slam_launch hector.launch
  354  source ~/catkin_ws/devel/setup.bash
  355  roslaunch hector_slam_launch hector.launch
  356  ls
  357  source ~/hector_ws/devel/setup.bash
  358  roslaunch hector_slam_launch hector.launch
  359  source hector_ws/devel/setup.bash
  360  roslaunch hector_slam_launch hector.launch
  361  rviz
  362  ls
  363  cd hector_ws/
  364  ls
  365  cd src/
  366  ls
  367  cd hector_slam/
  368  ls
  369  cd hector_slam_launch/
  370  ls
  371  cd launch/
  372  ls
  373  vim hector.launch
  374  ls
  375  ls -l hector_ws
  376  vim hector.launch
  377  history | grep git
  378  history | grep apt-get
  379  history | grep install
  380  history | grep hector_ws
  381  cd hector_ws
  382  ls
  383  ls -l
  384  history