所需硬件:
SD卡,树莓派4GB、电源线、显示屏、SD卡读卡器、键盘、鼠标、micro hdmi转接线
所需软件:
win32烧录工具:Download Win32 Disk Imager (sourceforge.net)
格式化软件:SD Memory Card Formatter for Windows/Mac | SD Association (sdcard.org)
一、格式化SD卡
安装格式化软件并打开,格式化SD卡
二、安装系统镜像
2.1.烧录软件下载
windows下载地址:Raspberry Pi OS – Raspberry Pi
2.2.下载后得到.exe文件,进行安装
2.3选择操作系统
2.4编辑设置
2.5设置登录密码和wifi密码
2.6开启SSH服务
三、利用xshell远程登录
3.1下载xshell
下载网址:Xmanager中文官网_Xshell,Xmanager,Xftp 7下载 (mairuan.com)
3.2获取主机名和IP地址
配置显示屏、鼠标、键盘等,输入账号(我的是ubuntu)密码,输入
hostname -I
返回主机IP
3.3远程登录ubuntu
成功界面
四、换源
4.1备份原来的源
sudo cp /etc/apt/sources.list /etc/apt/sources_init.list
4.2更换源
sudo nano /etc/apt/sources.list
将下边的清华源复制进去,然后ctrl+o保存,回车,ctrl+X退出编辑。
# 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/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
4.3更新
sudo apt-get update
sudo apt-get upgrade
参考:Ubuntu更换软件源(20.04LTS版本)【ARM架构以及X86架构的Ubuntu】_ubunutu(arm)20.04更换软件源 csdn-CSDN博客
五、安装桌面环境
sudo apt install ubuntu-desktop
sudo apt install xrdp
允许root登陆
sudo nano /usr/share/lightdm/lightdm.conf.d/50-ubuntu.conf
进入编辑界面,添加后面两行到文件末尾,然后ctrl+o保存,回车,ctrl+X退出编辑。
greeter-show-manual-login=true
allow-guest=false
sudo reboot #重启
若报错E: dpkg was interrupted, you must manually run 'sudo dpkg --configure -a' to correct the problem.
输入代码:
sudo dpkg --configure -a
若报错:Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 3840 (unattended-upgr)
输入代码:
sudo kill -9 3840
六、安装ROS(选)
wget http://fishros.com/install -O fishros && . fishros
测试ros,打开三个终端分别执行
roscore #启动ros核心
rosrun turtlesim turtlesim_node #打开小乌龟窗口
rosrun turtlesim turtle_teleop_key #启动按键控制
七、配置D415驱动
7.1下载RealSense SDK
sudo apt-get install libusb-1.0-0-dev
git clone https://github.com/IntelRealSense/librealsense
7.2编译(在root)
cd librealsense/
mkdir build && cd build
sudo -s
cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install
7.3设置udev规则
cd librealsense
sudo ./scripts/setup_udev_rules.sh
会提示我们先拔掉再插上,让他识别。
7.4调用RGB-D415
打开远程桌面连接
输入IP地址,CTRL+alt+T打开终端,输入
realsense-viewer
成功界面
注:树莓派运行会比较卡顿
特别鸣谢:学长 @攻城狮参上
参考:
windows ssh 连接 ubuntu server 20.04_win电脑私钥连接ubuntu20.04 22端口-CSDN博客
树莓派调用RealSense D415 和 realsense-ros源码安装_树莓ubuntu realsense-CSDN博客