树莓派4B+Ubuntu18.04+ROS(一)

树莓4B+Ubuntu18.04+ROS(一)

这是树莓派4B 4G成功安装了Ubuntu18.04+ROS后所需要做的一些配置。将TX2编译成功地ROS包放到树莓派中再次进行编译使用。

删除不必要的自带软件

参考：[link1] https://blog.csdn.net/paulkg12/article/details/84864008
[link2] https://jingyan.baidu.com/article/bad08e1e244b2109c85121f1.html

改变swap空间容量为8G

参考：[link1] https://blog.csdn.net/weixin_43053387/article/details/89204760
[link2] https://www.cnblogs.com/vcan123/p/12218927.html

sudo dd if=/dev/zero of=/opt/image/swap bs=1024 count=8192000

需要注意的地方：bs=1024相当于单位

解决Ubuntu18.04网络图标问题

参考：[link1] https://blog.csdn.net/kk_so_good/article/details/106025279?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf
[link2] https://blog.csdn.net/anlian523/article/details/102561789?utm_medium=distribute.pc_relevant.none-task-blog-title-4&spm=1001.2101.3001.4242
[link3] https://blog.csdn.net/qck15570179927/article/details/103059302
有线网络未托管，解决方案如下:
修改/usr/lib/NetworkManager/conf.d/10-globally-managed-devices.conf
找到“unmanaged-devices”一行，在最后添加“,except:type:ethernet”
然后运行：sudo systemctl restart NetworkManager

安装远程控制软件teamviewer

参考：[link1] https://blog.csdn.net/qq_40858216/article/details/104515567?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf
推荐去官网下载最新版本的teamviewer

sudo dpkg --add-architecture armhf
sudo apt update
sudo apt-get install libxtst6:armhf //如果不安装这个连接teamviewer后无法启动
sudo dpkg -i '安装包'
sudo apt install -f //在根目录下运行
//启动teamviewer服务
sudo teamviewer --daemon enable
//设置连接密码
sudo teamviewer –passwd 123456
//查看Teamviewerid
sudo teamviewer --daemon enable

将TX2上调试好的程序移植到树莓派上

1 bds_driver需要依赖nmea_msgs

sudo apt-get install ros-melodic-nmea-msgs

2 imu_gps_localization
错误：glog/logging.h: No such file or directory
解决方法：

sudo apt-get install libgoogle-glog-dev

fatal error: Eigen/Core: No such file or directory
include <Eigen/Core>
解决方法：
安装eigen

sudo apt-get install libeigen3-dev

解决确认已安装后仍出现 fatal error: Eigen/Core: No such file or directory
当调用 eigen 库时，会报错：fatal error: Eigen/Core: No such file or directory
这是因为 eigen 库默认安装在了 /usr/include/eigen3/Eigen 路径下，需使用下面命令映射到 /usr/include 路径下

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

3 rslidar_driver
fatal error: pcap.h: No such file or directory #include <pcap.h>

sudo apt-get install libcap-dev
sudo apt-get install libpcap0.8-dev 
sudo apt-get install libpcap-dev

4 将一些.py文件赋予执行权限
5 将pyQt搜索图片路径更改为Ubuntu下的路径
6 laser_filters的.yaml文件需要修改

树莓派4B ubuntu 18.04不输入密码启动和不接显示器工作

参考：[link1] https://blog.csdn.net/fuck_hang/article/details/105766070

sudo gedit /boot/firmware/config.txt

修改config.txt内容，在文件最后添加如下内容

hdmi_force_hotplug=1
hdmi_drive=2
hdmi_group=2
hdmi_mode=47

hdmi_force_hotplug：强制树莓派使用HDMI端口，即使树莓派没有检测到显示器连接仍然使用HDMI端口。该值为0时允许树莓派尝试检测显示器，当该值为1时，强制树莓派使用HDMI。

hdmi-drive：可以使用该配置项来改变HDMI端口的电压输出：
1-DVI输出电压。该模式下，HDMI输出中不包含音频信号。
2-HDMI输出电压。该模式下，HDMI输出中包含音频信号。

hdmi_group与hdmi_mode决定的分辨率
DMT分辨率是hdmi_group=2，计算机显示器使用的分辨率；hdmi_group=1是CEA分辨率 ，CEA规定的电视规格分辨率。
以下是DMT分辨率。这些分辨率的hdmi_group=2。根据需求自行更换hdmi_mode的值

hdmi_mode=1    640x350   85Hz
hdmi_mode=2    640x400   85Hz
hdmi_mode=3    720x400   85Hz
hdmi_mode=4    640x480   60Hz
hdmi_mode=5    640x480   72Hz
hdmi_mode=6    640x480   75Hz
hdmi_mode=7    640x480   85Hz
hdmi_mode=8    800x600   56Hz
hdmi_mode=9    800x600   60Hz
hdmi_mode=10   800x600   72Hz
hdmi_mode=11   800x600   75Hz
hdmi_mode=12   800x600   85Hz
hdmi_mode=13   800x600   120Hz
hdmi_mode=14   848x480   60Hz
hdmi_mode=15   1024x768  43Hz  DO NOT USE
hdmi_mode=16   1024x768  60Hz
hdmi_mode=17   1024x768  70Hz
hdmi_mode=18   1024x768  75Hz
hdmi_mode=19   1024x768  85Hz
hdmi_mode=20   1024x768  120Hz
hdmi_mode=21   1152x864  75Hz
hdmi_mode=22   1280x768        reduced blanking
hdmi_mode=23   1280x768  60Hz
hdmi_mode=24   1280x768  75Hz
hdmi_mode=25   1280x768  85Hz
hdmi_mode=26   1280x768  120Hz reduced blanking
hdmi_mode=27   1280x800        reduced blanking
hdmi_mode=28   1280x800  60Hz
hdmi_mode=29   1280x800  75Hz
hdmi_mode=30   1280x800  85Hz
hdmi_mode=31   1280x800  120Hz reduced blanking
hdmi_mode=32   1280x960  60Hz
hdmi_mode=33   1280x960  85Hz
hdmi_mode=34   1280x960  120Hz reduced blanking
hdmi_mode=35   1280x1024 60Hz
hdmi_mode=36   1280x1024 75Hz
hdmi_mode=37   1280x1024 85Hz
hdmi_mode=38   1280x1024 120Hz reduced blanking
hdmi_mode=39   1360x768  60Hz
hdmi_mode=40   1360x768  120Hz reduced blanking
hdmi_mode=41   1400x1050       reduced blanking
hdmi_mode=42   1400x1050 60Hz
hdmi_mode=43   1400x1050 75Hz
hdmi_mode=44   1400x1050 85Hz
hdmi_mode=45   1400x1050 120Hz reduced blanking
hdmi_mode=46   1440x900        reduced blanking
hdmi_mode=47   1440x900  60Hz
hdmi_mode=48   1440x900  75Hz
hdmi_mode=49   1440x900  85Hz
hdmi_mode=50   1440x900  120Hz reduced blanking
hdmi_mode=51   1600x1200 60Hz
hdmi_mode=52   1600x1200 65Hz
hdmi_mode=53   1600x1200 70Hz
hdmi_mode=54   1600x1200 75Hz
hdmi_mode=55   1600x1200 85Hz
hdmi_mode=56   1600x1200 120Hz reduced blanking
hdmi_mode=57   1680x1050       reduced blanking
hdmi_mode=58   1680x1050 60Hz
hdmi_mode=59   1680x1050 75Hz
hdmi_mode=60   1680x1050 85Hz
hdmi_mode=61   1680x1050 120Hz reduced blanking
hdmi_mode=62   1792x1344 60Hz
hdmi_mode=63   1792x1344 75Hz
hdmi_mode=64   1792x1344 120Hz reduced blanking
hdmi_mode=65   1856x1392 60Hz
hdmi_mode=66   1856x1392 75Hz
hdmi_mode=67   1856x1392 120Hz reduced blanking
hdmi_mode=68   1920x1200       reduced blanking
hdmi_mode=69   1920x1200 60Hz
hdmi_mode=70   1920x1200 75Hz
hdmi_mode=71   1920x1200 85Hz
hdmi_mode=72   1920x1200 120Hz reduced blanking
hdmi_mode=73   1920x1440 60Hz
hdmi_mode=74   1920x1440 75Hz
hdmi_mode=75   1920x1440 120Hz reduced blanking
hdmi_mode=76   2560x1600       reduced blanking
hdmi_mode=77   2560x1600 60Hz
hdmi_mode=78   2560x1600 75Hz
hdmi_mode=79   2560x1600 85Hz
hdmi_mode=80   2560x1600 120Hz reduced blanking
hdmi_mode=81   1366x768  60Hz
hdmi_mode=82   1080p     60Hz
hdmi_mode=83   1600x900        reduced blanking
hdmi_mode=84   2048x1152       reduced blanking
hdmi_mode=85   720p      60Hz
hdmi_mode=86   1366x768        reduced blanking

树莓派4B ubuntu 18.04启动后默认执行一个python脚本

1 使用开机启动工具robot-upstart
[link1] https://www.jianshu.com/p/1c0a21adb980
这里一定要注意服务的名称。
[link2] http://www.360doc.com/content/17/0805/16/7821691_676873843.shtml
[link3] https://blog.csdn.net/sunyoop/article/details/78261461

2 使用.sh脚本启动
[link1] https://blog.csdn.net/weixin_44407855/article/details/108080360
[link2] https://www.freesion.com/article/8643867900/
比较了两种方法，第二种更加方便一些。

ubuntu18.04开机进入命令行模式或还原

在修改树莓派参数后导致树莓派黑屏等无法进入图形化操作界面时可以通过以下方法进入命令行模式，对系统进行必要的还原。
参考：【link1】https://blog.csdn.net/bjarnecpp/article/details/96897234