ubuntu18 重装全记录

最近因为precision 3640 从复活节开始崩了三回，再加上新换的precision 3650 没有ubuntu 18 的配套ethernet driver，这段时间不知道重装了多少次系统，在这里记录一下，以免再装时忘记。

1. 正常用u盘装ubuntu 18 

2. 进去后会发现没有ethernet。 首先将u盘中的/pool/main 文件夹cp到本机，进入 /g/gcc-7 和/g/gcc-default, 运行sudo dkpg -i *.deb, 在本机安装gcc，为等下装etehrnet driver 做准备。

然后将u盘中事先准备好的e1000e driver cp到/usr/src中解压缩， 然后进入 1-12 的folder中运行 sudo dkpg 1-12/*.deb。结束后进入/e1000e/src 运行sudo make 和sudo make install ,在没有报错的情况下运行sudo modprobe e1000e. 这时会出现有线连接的标志，如果没有，reboot

（TODO：这里附上driver的压缩包和相关链接）

3. 安装nvidia driver. 这里进入updates， 如果additional driver 搜不出东西，就将server换为main server，安装nvidia-driver-470 (for rtx 3080) . 

4. 运行我事先写好的ubuntu18.sh 文件安装必要的软件（TODO： 继续更新）

不建议用sudo ubuntu drivers autoinstall 安装driver，后续会有问题。以及即使terminal提示有一些包不能用了，千万不要运行sudo apt autoremove, 这样做网卡就会又不能用，重新编译的话会报错找不到kernel files。

#ubuntu-driver
#sudo ubuntu-drivers autoinstall or install from the update softwaer part


#chrome
wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb
sudo apt --fix-broken install
sudo apt install ./google-chrome-stable_current_amd64.deb

#vscode
sudo apt update
sudo apt install software-properties-common apt-transport-https wget -y
wget -q https://packages.microsoft.com/keys/microsoft.asc -O- | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main"
sudo apt install code


#other software
sudo apt install git
sudo apt install vim

#carla-autoware
#docker and nvidia-docker
sudo apt install apt-transport-https ca-certificates curl software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable"
sudo apt update
apt-cache policy docker-ce
sudo apt install docker-ce

#nvidia-docker
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey |   sudo apt-key add -
distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get install -y nvidia-docker2
sudo pkill -SIGHUP dockerd

如果nvidia-docker 安装报错，参考这个链接：

https://medium.com/@linhlinhle997/how-to-install-docker-and-nvidia-docker-2-0-on-ubuntu-18-04-da3eac6ec494https://medium.com/@linhlinhle997/how-to-install-docker-and-nvidia-docker-2-0-on-ubuntu-18-04-da3eac6ec494酌情选择要安装哪些

5. 安装carla-autoware:

另一个大坑。一般有两个问题，一是安装之后运行的时候rviz 里看不到地图，我第一次装的时候也遇到过这个问题，当时不太记得怎么fix‘好的了，结果这次（23.6.3) 重装的时候在这个问题上花了非常久的时间。主要的解决方式是要用git lfs 来clone

cd ~
git lfs clone https://github.com/carla-simulator/carla-autoware.git
cd carla-autoware
git submodule update --init

参考链接：https://github.com/carla-simulator/carla-autoware/issues/100

第二问题就是在build autoware docker 的时候是会报错的，fix 后的版本是：

ARG AUTOWARE_VERSION=1.14.0-melodic-cuda

FROM autoware/autoware:$AUTOWARE_VERSION

WORKDIR /home/autoware

# Update simulation repo to latest master.
COPY --chown=autoware update_sim.patch ./Autoware
RUN patch ./Autoware/autoware.ai.repos ./Autoware/update_sim.patch
RUN cd ./Autoware \
    && vcs import src < autoware.ai.repos \
    && git --git-dir=./src/autoware/simulation/.git --work-tree=./src/autoware/simulation pull \
    && source /opt/ros/melodic/setup.bash \
    && AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

# CARLA PythonAPI
RUN mkdir ./PythonAPI
ADD --chown=autoware https://carla-releases.s3.eu-west-3.amazonaws.com/Backup/carla-0.9.10-py2.7-linux-x86_64.egg ./PythonAPI
RUN echo "export PYTHON2_EGG=$(ls /home/autoware/PythonAPI | grep py2.)" >> .bashrc \
    && echo "export PYTHONPATH=\$PYTHONPATH:~/PythonAPI/\$PYTHON2_EGG" >> .bashrc

# CARLA ROS Bridge
# There is some kind of mismatch between the ROS debian packages installed in the Autoware image and
# the latest ros-melodic-ackermann-msgs and ros-melodic-derived-objects-msgs packages. As a
# workaround we use a snapshot of the ROS apt repository to install an older version of the required
# packages. 


#RUN rm /etc/apt/sources.list.d/cuda.list
#RUN rm /etc/apt/sources.list.d/nvidia-ml.list
#RUN apt-key del 7fa2af80
#RUN sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F    42ED6FBAB17C654

#RUN apt-get update && apt-get install -y --no-install-recommends wget
#RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-keyring_1.0-1_all.deb
#RUN dpkg -i cuda-keyring_1.0-1_all.deb


RUN rm /etc/apt/sources.list.d/cuda.list
RUN rm /etc/apt/sources.list.d/nvidia-ml.list
RUN apt-key del 7fa2af80
RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/3bf863cc.pub
RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/7fa2af80.pub

#RUN sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F42ED6FBAB17C654


RUN sudo rm -f /etc/apt/sources.list.d/ros1-latest.list
RUN sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
RUN sudo sh -c 'echo "deb http://snapshots.ros.org/melodic/2020-08-07/ubuntu $(lsb_release -sc) main" >> /etc/apt/sources.list.d/ros-snapshots.list'
RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \
        python-pip \
        python-wheel \
        ros-melodic-ackermann-msgs \
        ros-melodic-derived-object-msgs \
    && sudo rm -rf /var/lib/apt/lists/*
RUN pip install simple-pid pygame networkx==2.2

RUN git clone -b '0.9.10.1' --recurse-submodules https://github.com/carla-simulator/ros-bridge.git

# CARLA Autoware agent
COPY --chown=autoware . ./carla-autoware

RUN mkdir -p carla_ws/src
RUN cd carla_ws/src \
    && ln -s ../../ros-bridge \
    && ln -s ../../carla-autoware/carla-autoware-agent \
    && cd .. \
    && source /opt/ros/melodic/setup.bash \
    && catkin_make

RUN echo "export CARLA_AUTOWARE_CONTENTS=~/autoware-contents" >> .bashrc \
    && echo "source ~/carla_ws/devel/setup.bash" >> .bashrc \
    && echo "source ~/Autoware/install/setup.bash" >> .bashrc

CMD ["/bin/bash"]

用这部分的内容更换Dockerfile 中的内容就可以了。