这段时间一直在重装Ubuntu16.04,因此这里总结一下安装后适合我的环境配置(SLAM研究、CV研究)。
Chrome浏览器的安装
安装包下载地址:https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb
sudo dpkg -i google-chrome-stable_current_amd64.deb
更改apt源
命令如下:
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak sudo gedit /etc/apt/sources.list
从以下源中选择一个输入进去:
官方源: deb http://cn.archive.ubuntu.com/ubuntu/ xenial main restricted deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates main restricted deb http://cn.archive.ubuntu.com/ubuntu/ xenial universe deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates universe deb http://cn.archive.ubuntu.com/ubuntu/ xenial multiverse deb http://cn.archive.ubuntu.com/ubuntu/ xenial-updates multiverse deb http://cn.archive.ubuntu.com/ubuntu/ xenial-backports main restricted universe multiverse deb http://security.ubuntu.com/ubuntu xenial-security main restricted deb http://security.ubuntu.com/ubuntu xenial-security universe deb http://security.ubuntu.com/ubuntu xenial-security multiverse 阿里源: deb http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse deb http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-security main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-updates main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-proposed main restricted universe multiverse deb-src http://mirrors.aliyun.com/ubuntu/ xenial-backports main restricted universe multiverse 清华源: 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 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 #中科大源 deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
然后更新源、升级软件包
update upgrade
清理自带软件(可选)
命令如下:
sudo apt-get remove libreoffice-common sudo apt-get remove unity-webapps-common #Amazon的链接 sudo apt-get remove thunderbird totem rhythmbox empathy brasero simple-scan gnome-mahjongg aisleriot sudo apt-get remove gnome-mines cheese transmission-common gnome-orca webbrowser-app gnome-sudoku landscape-client-ui-install sudo apt-get remove onboard deja-dup
桌面美化(可选)
命令如下:
#将左侧的起动栏移到底部 gsettings set com.canonical.Unity.Launcher launcher-position Bottom #启动栏移回左边:gsettings set com.canonical.Unity.Launcher launcher-position Left #Unity 图形化管理工具 sudo apt-get install unity-tweak-tool
安装Flatabulous主题
sudo add-apt-repository ppa:noobslab/themes sudo apt-get update sudo apt-get install flatabulous-theme sudo add-apt-repository ppa:noobslab/icons sudo apt-get update sudo apt-get install ultra-flat-icons#安装Flatabulous主题配套的图标 #然后打开unity-tweak-tool软件,修改主题和图标:主题选择Flatabulous,图标选择Ultra-flat
或安装mac主题
sudo add-apt-repository ppa:noobslab/macbuntu sudo apt-get update sudo apt-get install macbuntu-os-ithemes-lts-v7 sudo apt-get install macbuntu-os-icons-lts-v7 sudo apt-get install macbuntu-os-plank-theme-lts-v7 #然后打开unity-tweak-tool软件,修改主题、图标、指针为macbuntu-os即可 #设置plank自启动:点击“启动应用程序”,添加plank启动即可
网速显示
sudo add-apt-repository ppa:fossfreedom/indicator-sysmonitor sudo apt-get update sudo apt-get install indicator-sysmonitor #启动命令 indicator-sysmonitor &
安装nvidia驱动
直接在"Ubuntu软件"->"软件与更新"->"附加驱动"->选择nivia驱动->应用更改。 查看驱动版本命令:nvidia-smi 重启
安装cuda9.0
cuda9.0下载地址:https://developer.nvidia.com/cuda-90-download-archive
安装命令:
sudo sh cuda_9.0.176_384.81_linux.run
当Install NVIDIA Accelerated Graphics Driver for Linux-x86_64 384.81?(y)es/(n)o/(q)uit: 的时候,请回答n。
配置环境变量:
sudo gedit /etc/profile
在文件末尾添加:
export PATH=/usr/local/cuda-9.0/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-9.0/lib64$LD_LIBRARY_PATH
重启
查看cuda版本命令:
nvcc -V
安装cudnn7.5
在官网下载cudnn7.5,这是个压缩包。
解压cudnn7.5,在解压位置打开终端,输入命令:
sudo cp cuda/include/cudnn.h /usr/local/cuda/include/ sudo cp cuda/lib64/libcudnn* /usr/local/cuda/lib64/ sudo chmod a+r /usr/local/cuda/include/cudnn.h sudo chmod a+r /usr/local/cuda/lib64/libcudnn*
查看cudnn版本:
cat /usr/local/cuda/include/cudnn.h | grep CUDNN_MAJOR -A 2
出现下列信息表示安装成功:
#define CUDNN_MAJOR 5 #define CUDNN_MINOR 0 #define CUDNN_PATCHLEVEL 5 -- #define CUDNN_VERSION (CUDNN_MAJOR * 1000 + CUDNN_MINOR * 100 + CUDNN_PATCHLEVEL) #include "driver_types.h"
安装pip,更换pip源
#安装Pip: sudo apt install python-pip #更换源: mkdir ~/.pip sudo touch ~/.pip/pip.conf sudo gedit ~/.pip/pip.conf
输入清华源:
[global] index-url = https://pypi.tuna.tsinghua.edu.cn/simple
其它国内pip源如下:
阿里云 http://mirrors.aliyun.com/pypi/simple/ 中国科技大学 https://pypi.mirrors.ustc.edu.cn/simple/ 豆瓣(douban) http://pypi.douban.com/simple/ 清华大学 https://pypi.tuna.tsinghua.edu.cn/simple/ 中国科学技术大学 http://pypi.mirrors.ustc.edu.cn/simple/
安装Conda(可选)
命令如下:
#在官网下载安装包 https://www.anaconda.com/products/individual #安装 bash Anaconda3-5.3.1-Linux-x86_64.sh #注意安装的时候,最后不要将conda路径添加到环境变量,不然会与ROS某些包冲突.就是 #在最后它会问Do you wish the installer to initialize Anaconda3 by running conda init? [yes|no] #最好选择no,这样它不会自动给你添加环境变量,但你每次都需要自己激活环境 #当没有设置环境变量当是哈,每次使用conda需要先激活环境 #使用conda前设置环境变量 export PATH="/home/chen/anaconda3/bin:$PATH" #然后激活conda 环境 source activate #conda基本命令 conda update -n base conda #update最新版本的conda conda create -n xxxx python=3.5 #创建python3.5的xxxx虚拟环境 conda activate xxxx #开启xxxx环境 conda deactivate #关闭环境 conda env list #显示所有的虚拟环境 conda info --envs #显示所有的虚拟环境
conda的使用:https://blog.csdn.net/zhayushui/article/details/80433768
pytorch的安装:https://pytorch.org/get-started/previous-versions/
注意:在conda中使用opencv的时候,应该先将ros路径注释掉:
import sys sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
安装jupyter notebook
conda install jupyter notebook
安装ROS
#设置ros源(中科大): sudo sh -c 'echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' #设置密钥 sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116 sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654 sudo apt update #安装ros-kinetic sudo apt-get install ros-kinetic-desktop-full #初始化ROS sudo rosdep init rosdep update #设置环境变量 echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc #安装py插件 sudo apt-get install python-rosinstall
gazebo第一次启动的时候需要下载仿真模型,但是国内下载非常非常慢,因此最好手动下载:http://pan.baidu.com/s/1pKaeg0F 密码:cmxc (来自rosclub.cn)。然后将其解压至~/.gazebo目录下。
安装OpenCV3
http://www.chenjianqu.com/show-79.html
安装PCL1.8
http://www.chenjianqu.com/show-98.html
安装Kinect驱动
libfreenect2源码下载:
git clone https://github.com/OpenKinect/libfreenect2.git (画重点:不要用release版本libfreenect2-v0.2.0的源代码,,,一下午的教训)
libfreenect2依赖项:
sudo apt-get install build-essential cmake pkg-config sudo apt-get install libusb-1.0-0-dev sudo apt-get install libturbojpeg libjpeg-turbo8-dev sudo apt-get install libglfw3-dev sudo apt-get install libopenni2-dev mkdir build && cd build
libfreenect2编译安装
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2 make -j4 sudo make install #设置udev规则 sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/ #测试程序 ./bin/Protonect
iai_kinect2编译安装,要将其源码git clone到catkin工作空间的src目录下:
#下载源码: cd ~/catkin_ws/src/ git clone https://github.com/code-iai/iai_kinect2.git #安装依赖: cd iai_kinect2 rosdep install -r --from-paths . #编译工作空间 cd ~/catkin_ws catkin_make -j4 #设置source sudo gedit ~/.bashrc #输入:source ~/catkin_ws/devel/setup.bash source ~/.bashrc #测试程序: roslaunch kinect2_bridge kinect2_bridge.launch rosrun kinect2_viewer kinect2_viewer
SLAM相关:
安装Eigen3
APT安装:
sudo apt-get install libeigen3-dev
有时候需要sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
源码安装
地址:https://download.csdn.net/download/qq21497936/10800291
下载后解压,mkdir build,cd build,cmake ..,sudo make install。由于Eigen只有头文件,因此不需要make。
编译Sophus
git clone #对于非模板类库使用:git checkout a621ff 版本 cmake .. make -j4 #无需安装。
安装g2o或Ceres
http://www.chenjianqu.com/show-86.html
编译OctoMap
sudo apt install libqglviewer-dev sudo apt-get install doxygen git clone https://github.com/OctoMap/octomap cd octomap-master #octomap cd octomap mkdir build && cd build cmake .. make -j4 sudo make install #用于可视化octomap cd ../../octovis mkdir build && cd build cmake .. make -j4 sudo make install
编译安装DBow3
git clone https://github.com/rmsalinas/DBow3 cd DBow3 mkdir build && cd build cmake .. make -j4 sudo make install
安装notepad++
sudo add-apt-repository ppa:notepadqq-team/notepadqq sudo apt-get update sudo apt-get install notepadqq
安装KDevelop4
sudo apt-get install kdevelop sudo apt-get install automake autoconf g++ libtool cmake
安装Clion
下载安装包:http://www.jetbrains.com/clion/ 解压安装包:tar zxvf CLion-2020.1.2.tar.gz 在解压文件夹的bin目录下执行:./clion.sh 然后一路默认安装即可
安装virtualBox
sudo apt-get -y install virtualbox
安装vscode
sudo dpkg -i vscode_1.42.1-1581432938_amd64.deb #如果依赖不满足,则: #sudo apt-get -f install
VSCode的Markdown插件:Markdown Preview Enhanced
安装搜狗输入法
安装包下载地址:https://pinyin.sogou.com/linux/
sudo dpkg -i linuxqq_2.0.0-b1-1024_amd64.deb 安装好了之后,设置输入法即可使用 若候选栏出现乱码,执行:sudo killall fcitx
安装Smplayer
Smplayer是一个可以播放各种视频格式的播放器:
sudo apt-add-repository ppa:rvm/smplayer sudo apt-get update sudo apt-get install smplayer smplayer-skins smplayer-themes
安装QQ
sudo dpkg -i linuxqq_2.0.0-b1-1024_amd64.deb
安装网易云音乐
#安装包地址: sudo dpkg -i netease-cloud-music_1.0.0_amd64_ubuntu16.04.deb
安装wps
sudo dpkg -i wps-office_11.1.0.9080_amd64.deb 缺少字体解决: sudo tar zxvf wps_symbol_fonts.tar.gz sudo mv wps_symbol_fonts /usr/share/fonts
安装CopyTranslator
安装包地址:https://gitee.com/ylzheng/CopyTranslator/wikis/linux
sudo apt install libpng16-16 sudo dpkg -i copytranslator_9.1.0_amd64.deb
安装CAJViewer
0.从官网下载Linux版的CAJViewer: 1.添加执行权限 对软件包设置为“可执行” 2.直接执行该软件包: ./CAJViewer-x86_64-libc-2.24.AppImage 2.1可能的报错:./CAJViewer-x86_64-libc-2.24.AppImage: /usr/lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.22' not found (required by ./CAJViewer-x86_64-libc-2.24.AppImage) 2.2解决方案:安装libstdc++6即可,过程如下 sudo add-apt-repository ppa:ubuntu-toolchain-r/test (这一步可能很慢) sudo apt-get update sudo apt-get install libstdc++6 3.直接双击该CAJViewer-x86_64-libc-2.24.AppImage即可
安装zoom系统
安装包下载地址:https://zoom.com.cn/download sudo dpkg -i zoom_amd64.deb #若缺少依赖 sudo apt install -f sudo dpkg -i zoom_amd64.deb
安装RAR解压软件
sudo apt install rar sudo apt install unrar
安装rawtherapee图像处理软件
sudo add-apt-repository ppa:dhor/myway sudo apt update sudo apt install rawtherapee
这个软件没有下面的GIMP好用。
安装GIMP图像处理软件
sudo apt-get install gimp
终极配置完成。