自用笔记-重装系统

1、ubuntu 换源 
#为防止误操作后无法恢复，先备份原文件sources.list
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak 
#删除或注释掉原Ubuntu的源 更换为清华的源,亲测可用
sudo gedit /etc/apt/sources.list 

# 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


deb-src http://archive.ubuntu.com/ubuntu xenial main restricted #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates universe
deb http://mirrors.aliyun.com/ubuntu/ xenial multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse #Added by software-properties
deb http://archive.canonical.com/ubuntu xenial partner
deb-src http://archive.canonical.com/ubuntu xenial partner
deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted
deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted multiverse universe #Added by software-properties
deb http://mirrors.aliyun.com/ubuntu/ xenial-security universe
deb http://mirrors.aliyun.com/ubuntu/ xenial-security multiverse

sudo apt-get update
修复损坏的安装包----不指定软件包
sudo apt --fix-broken install
2、安装qt15.4.2
https://download.qt.io/archive/qt/5.14/5.14.2/

3、 安装sogoupingyin
https://pinyin.sogou.com/linux/

4、 安装 typora
wget -qO - https://typora.io/linux/public-key.asc | sudo apt-key add -
sudo add-apt-repository 'deb https://typora.io/linux ./'
sudo apt-get update
sudo apt-get install typora

5、 PX4编译环境搭建
git clone -b v1.11.3 https://github.com/PX4/PX4-Autopilot.git
git submodule update --init --recursive
cd PX4-Autopilot/Tools/setup/
sudo bash ./ubuntu.sh

6、ROS安装mavros
## Setup keys 清华镜像
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
------------------------------------------------------
阿里镜像
sudo sh -c '. /etc/lsb-release && echo "deb https://mirrors.aliyun.com/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

------------------------------------------------------  


sudo apt-get update

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

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

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

## Initialize rosdep
cd /usr/lib/python2.7/dist-packages/
find . -type f | xargs grep "raw.githubusercontent"
进入"/usr/lib/python2.7/dist-packages/" 查找  find . -type f | xargs grep "raw.githubusercontent"

.修改相关文件，主要有: ./rosdistro/__init__.py、./rosdep2/gbpdistro_support.py、./rosdep2/sources_list.py 、./rosdep2/rep3.py。可以使用sudo gedit命令修改文件:

```c
sudo gedit ./rosdistro/__init__.py
sudo gedit ./rosdep2/sources_list.py
sudo gedit ./rosdep2/rep3.py

文件中涉及的 URL 内容，如果是:raw.githubusercontent.com/ros/rosdistro/master都替换成步骤1中准备的

gitee.com/zhao-xuzuo/rosdistro/raw/master

即可。修改完毕，再重新执行命令:

sudo rosdep init
rosdep update

sudo: rosdep: command not found
sudo apt install python-rosdep

mavros

sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

---

cd /opt/ros/melodic/lib/mavros
sudo bash ./install_geographiclib_datasets.sh

---

安装rqt_graph
sudo apt-get install ros-melodic-rqt
sudo apt-get install ros-melodic-rqt-graph
sudo apt-get install ros-melodic-rqt-common-plugins

安装的ROS+Gazebo

ROS Gazebo: http://wiki.ros.org/melodic/Installation/Ubuntu

sudo apt-get install protobuf-compiler libeigen3-dev libopencv-dev -y
7、QGroundCOntrol 编译环境搭建
第一步：需要对其进行授权，防止超出权限 chmod 777 qt-opensource-linux-x64-5.11.0.run
第二步：开始执行安装命令 ./qt-opensource-linux-x64-5.11.0.run 在安装过程中可能会有点卡，耐心等待一会，整个安装 过程大概20分钟左右，若是失败可以重新安装再次尝试一下，安装位置可以默认即可。
第三步：安装一些依赖包 sudo apt-get install espeak libespeak-dev libudev-dev libsdl1.2-dev libsdl2-dev 直接复制粘贴即可
第四步：对Qt源进行更换，因为默认的源是Qt4 export QT_SELECT=qt5
之后便可以查看Qt环境 qtchooser -print-env

第一个导向和我们安装的不一致，需要对其进行更改。sudo gedit /usr/lib/x86_64-linux-gnu/qtchooser/5.conf 第一行需要更改，目录与自己安装的位置有关，例如我的是改成 /home/lxk/Qt5.11.0/5.11.0/gcc_64/bin
最后查看Qt的qmake的版本 qmake -v
如果是这样的话则代表安装成功了，接下来可以编译QGC源码了。

On the command prompt enter:

 sudo usermod -a -G dialout $USER
sudo apt-get remove modemmanager -y
sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y
sudo apt install libqt5gui5 -y
sudo apt install libfuse2 -y

Logout and login again to enable the change to user permissions.

[Download QGroundControl.AppImage.](https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage)
一、使用git命令clone源码，跟新submodules
git clone --recursive https://github.com/mavlink/qgroundcontrol.git
git submodule update
 编译完成后会出现这个页面，提示我们将用户加入权限组，并移除设备管理器，因为设备管理器会对串口造成影响。
在命令行输入 sudo usermod -a -G dialout $USER    和    sudo apt-get remove modemmanger
生产可执行文件  修改qggroundcontrol.pro 添加
QMAKE_LFLAGS += -no-pie

8、QT Creator 编译PX4 后上传固件 一直失败
cd ~/src/Firmware
mkdir …/Firmware-build
cd …/Firmware-build
cmake …/Firmware -G “CodeBlocks - Unix Makefiles” -DCONFIG=nuttx_px4_fmu-v5_default

• 项目配置
  选择src/Firmware-build作为构建目录
  运行设置
• 点击Add可以增加Executable行
• 编译
  点击左下角绿色箭头，出现如下
• 下载烧录，因为在项目配置中RUN中，包含两个操作一个是make，然后是upload所以，上面那个编译完成后，自动烧录其中，点击下面application output，可以看见烧录情况

Command ‘rosrun‘ not found

sudo apt install ros-melodic-rosbash