@[TOC] # ubuntu如何查看版本信息？ [小菜鸟安装Ubuntu18.04系统探险指南（适合新手入门）](https://blog.csdn.net/weixin_44991673/article/details/105554748?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162133224916780269873023%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fblog.%2522%257D&request_id=162133224916780269873023&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~blog~first_rank_v2~rank_v29-1-105554748.nonecase&utm_term=ubuntu) Q：我有一台崭新的电脑，安装好双系统之后，如何查看自己的版本呢？ A：打开终端输入 `cat /proc/version `即可查看我们的版本号 ```bash user@user-B460MPOWER:~$ cat /proc/version Linux version 5.3.0-28-generic (buildd@lcy01-amd64-009) (gcc version 7.4.0 (Ubuntu 7.4.0-1ubuntu1~18.04.1)) #30~18.04.1-Ubuntu SMP Fri Jan 17 06:14:09 UTC 2020 ``` ![在这里插入图片描述](https://img-blog.csdnimg.cn/2021051810532313.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) # 安装CMake 官网适合自己电脑的版本: [https://cmake.org/download/](https://cmake.org/download/) CMake官网教程连接：[https://cmake.org/cmake/help/latest/guide/tutorial/index.html](https://cmake.org/cmake/help/latest/guide/tutorial/index.html) CMake安装后续步骤：[https://blog.51cto.com/speakingbaicai/1087432](https://blog.51cto.com/speakingbaicai/1087432) 执行`./bootstrap`时候报错， ```bash --------------------------------------------- Error when bootstrapping CMake: Cannot find a C++ compiler that supports both C++11 and the specified C++ flags. Please specify one using environment variable CXX. The C++ flags are "". They can be changed using the environment variable CXXFLAGS. See cmake_bootstrap.log for compilers attempted. --------------------------------------------- ``` 参考链接：[http://bbs.keinsci.com/thread-11819-1-1.html](http://bbs.keinsci.com/thread-11819-1-1.html) ==提示说是g++版本低,没有解决这个问题== ```bash user@user-B460MPOWER:~/thirdLibrary/cmake/cmake-3.20.2$ ./bootstrap --------------------------------------------- CMake 3.20.2, Copyright 2000-2021 Kitware, Inc. and Contributors C compiler on this system is: cc --------------------------------------------- Error when bootstrapping CMake: Cannot find a C++ compiler that supports both C++11 and the specified C++ flags. Please specify one using environment variable CXX. The C++ flags are "". They can be changed using the environment variable CXXFLAGS. See cmake_bootstrap.log for compilers attempted. --------------------------------------------- Log of errors: /home/user/thirdLibrary/cmake/cmake-3.20.2/Bootstrap.cmk/cmake_bootstrap.log --------------------------------------------- ``` 更换安装方式，现在版本`cmake version 3.10.2` ```bash sudo apt install cmake ``` ```bash user@user-B460MPOWER:~$ cmake -version cmake version 3.10.2 CMake suite maintained and supported by Kitware (kitware.com/cmake). ``` # 安装CLion 官网下载:[https://www.jetbrains.com/clion/](https://www.jetbrains.com/clion/) 安装包进行解压，在`bin`文件目录下打开终端，运行`./clion.sh`脚本文件，然后把破解补丁放入打开的CLion界面。 ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518111750733.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) 破解补丁下载：链接: [https://pan.baidu.com/s/1hlrLKZiLWNLhV7I8kXEaRw](https://pan.baidu.com/s/1hlrLKZiLWNLhV7I8kXEaRw) 提取码: 6vic Clion调试代码简介 视频链接 链接：[https://pan.baidu.com/s/1RI5BbHvP2EtWamd1J0SRUQ](https://pan.baidu.com/s/1RI5BbHvP2EtWamd1J0SRUQ) 密码：ovba # 安装Eigen库 # 安装openCV ubuntu16.04 安装opencv 步骤和错误解决:[https://blog.csdn.net/weixin_41896508/article/details/80795239](https://blog.csdn.net/weixin_41896508/article/details/80795239) ```bash $ cd ~/opencv $ mkdir build $ cd build $　cmake -D CMAKE_BUILD_TYPE=Release –D CMAKE_INSTALL_PREFIX=/usr/local .. $　make –j8 $　sudo make install ``` ==opencv编译卡在 IPPICV: Download: ippicv_2019_lnx_intel64_general_20180723.tgz== opencv 解决ippicv下载问题，离线:ippicv_2019_lnx_intel64_general_20180723.tgz [https://blog.csdn.net/weixin_45250844/article/details/102159059](https://blog.csdn.net/weixin_45250844/article/details/102159059) ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518144241363.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center)最后成功界面： ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518144825110.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center)![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518151258723.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) # 安装Ceres 出现问题： ```bash -- Detected Ceres version: 2.0.0 from /home/user/thirdLibrary/ceres/ceres-solver/include/ceres/version.h -- Detected available Ceres threading models: [CXX_THREADS, OPENMP, NO_THREADS] -- Building with C++14 -- Found Eigen version 3.3.4: /usr/include/eigen3 -- Enabling use of Eigen as a sparse linear algebra library. -- A library with BLAS API found. -- Found LAPACK library: /usr/lib/x86_64-linux-gnu/liblapack.so;/usr/lib/x86_64-linux-gnu/libblas.so -- A library with BLAS API found. -- Found AMD headers in: /usr/include/suitesparse -- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so -- Found CAMD headers in: /usr/include/suitesparse -- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so -- Found COLAMD headers in: /usr/include/suitesparse -- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so -- Found CCOLAMD headers in: /usr/include/suitesparse -- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so -- Found CHOLMOD headers in: /usr/include/suitesparse -- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so -- Found SUITESPARSEQR headers in: /usr/include/suitesparse -- Found SUITESPARSEQR library: /usr/lib/x86_64-linux-gnu/libspqr.so -- Found Intel Thread Building Blocks (TBB) library (2017.0 / 9107) include location: /usr/include. Assuming SuiteSparseQR was compiled with TBB. -- Found SUITESPARSE_CONFIG headers in: /usr/include/suitesparse -- Found SUITESPARSE_CONFIG library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so -- Found LIBRT library: /usr/lib/x86_64-linux-gnu/librt.so -- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing). -- Did not find METIS library (optional SuiteSparse dependency) -- Found SuiteSparse 5.1.2, building with SuiteSparse. -- Found CXSparse version: 3.1.9, building with CXSparse. -- Building without Apple's Accelerate sparse support. -- Use of gflags disabled - no tests or tools will be built! -- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available. -- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake. -- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components. -- Failed to find glog - Could not find glog include directory, set GLOG_INCLUDE_DIR to directory containing glog/logging.h CMake Error at CMakeLists.txt:432 (message): Can't find Google Log (glog). Please set either: glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & GLOG_LIBRARY or enable MINIGLOG option to use minimal glog implementation. -- Configuring incomplete, errors occurred! See also "/home/user/thirdLibrary/ceres/ceres-solver/build/CMakeFiles/CMakeOutput.log". See also "/home/user/thirdLibrary/ceres/ceres-solver/build/CMakeFiles/CMakeError.log". ``` 我们先根据官网信息把依赖的东西安装好再编译：[http://ceres-solver.org/installation.html](http://ceres-solver.org/installation.html) ```bash # CMake sudo apt-get install cmake # google-glog + gflags sudo apt-get install libgoogle-glog-dev libgflags-dev # BLAS & LAPACK sudo apt-get install libatlas-base-dev # Eigen3 sudo apt-get install libeigen3-dev # SuiteSparse and CXSparse (optional) sudo apt-get install libsuitesparse-dev tar zxf ceres-solver-2.0.0.tar.gz mkdir ceres-bin cd ceres-bin cmake ../ceres-solver-2.0.0 make -j3 make test # Optionally install Ceres, it can also be exported using CMake which # allows Ceres to be used without requiring installation, see the documentation # for the EXPORT_BUILD_DIR option for more information. make install ``` 在运行例子时出现 ```bash user@user-B460MPOWER:~/thirdLibrary/ceres/ceres-solver/ceres-bin/bin$ ./simple_bundle_adjuster ../ceres-solver/data/problem-16-22106-pre.txt ERROR: unable to open file ../ceres-solver/data/problem-16-22106-pre.txt 段错误 (核心已转储) ``` 我们安装的文件位置不同，所以要写在不同的路径上面 ```bash ./simple_bundle_adjuster /home/user/thirdLibrary/ceres/ceres-solver/data/problem-16-22106-pre.txt ``` ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518202249805.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) # 安装ROS 先设置软件仓库：[https://help.ubuntu.com/community/Repositories/Ubuntu](https://help.ubuntu.com/community/Repositories/Ubuntu) 再在官网上下载ROS[http://wiki.ros.org/melodic/Installation/Ubuntu](http://wiki.ros.org/melodic/Installation/Ubuntu)，要和自己的系统版本相对应 Ubuntu18.04下安装ROS:[https://blog.csdn.net/haiyinshushe/article/details/84256137](https://blog.csdn.net/haiyinshushe/article/details/84256137) 软件仓库的问题不是很明白为什么？[https://help.ubuntu.com/community/Repositories/Ubuntu](https://help.ubuntu.com/community/Repositories/Ubuntu) 还有一篇参考文献:[https://m.linuxidc.com/Linux/2010-04/25744.htm](https://m.linuxidc.com/Linux/2010-04/25744.htm) ```bash user@user-B460MPOWER:~$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list' [sudo] user 的密码： user@user-B460MPOWER:~$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 Executing: /tmp/apt-key-gpghome.E1P9vgw442/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 gpg: 密钥 F42ED6FBAB17C654：公钥“Open Robotics ”已导入 gpg: 合计被处理的数量：1 gpg: 已导入：1 user@user-B460MPOWER:~$ sudo apt install ros-melodic-desktop-full 正在读取软件包列表... 完成 正在分析软件包的依赖关系树 正在读取状态信息... 完成 E: 无法定位软件包 ros-melodic-desktop-full user@user-B460MPOWER:~$ sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list' user@user-B460MPOWER:~$ sudo apt-get update 获取:1 http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease [4,680 B] 获取:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main amd64 Packages [756 kB] 错误:2 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main amd64 Packages 文件尺寸不符(755768 != 755589)。您使用的镜像正在同步中？ [IP: 202.141.160.110 80] Hashes of expected file: - Filesize:755589 [weak] - SHA256:8b22dcaa6bf1406f852f10c1ccf8e8856857698a34ff18c41e44df54049e895e - SHA1:99d9bdde30d23acfe55a7b651ad058d332e5c1fc [weak] - MD5Sum:22d120a1341089964c3115dc13d9954d [weak] Release file created at: Tue, 27 Apr 2021 12:52:49 +0000 获取:3 http://mirrors.ustc.edu.cn/ros/ubuntu bionic/main i386 Packages [26.3 kB] 获取:26 http://cn.archive.ubuntu.com/ubuntu bionic-backports/main Sources [5,440 B] 已下载 13.0 MB，耗时 1分 22秒 (158 kB/s) 正在读取软件包列表... 完成 E: 无法下载 http://mirrors.ustc.edu.cn/ros/ubuntu/dists/bionic/main/binary-amd64/Packages.gz 文件尺寸不符(755768 != 755589)。您使用的镜像正在同步中？ [IP: 202.141.160.110 80] Hashes of expected file: - Filesize:755589 [weak] - SHA256:8b22dcaa6bf1406f852f10c1ccf8e8856857698a34ff18c41e44df54049e895e - SHA1:99d9bdde30d23acfe55a7b651ad058d332e5c1fc [weak] - MD5Sum:22d120a1341089964c3115dc13d9954d [weak] Release file created at: Tue, 27 Apr 2021 12:52:49 +0000 E: 部分索引文件下载失败。如果忽略它们，那将转而使用旧的索引文件。 user@user-B460MPOWER:~$ sudo apt install ros-melodic-desktop-full 正在读取软件包列表... 完成 正在分析软件包的依赖关系树 正在读取状态信息... 完成 E: 无法定位软件包 ros-melodic-desktop-full user@user-B460MPOWER:~$ ``` ==出现 E: 无法定位软件包 ros-melodic-desktop-full== ```bash user@user-B460MPOWER:~$ sudo apt install ros-melodic-desktop-full 正在读取软件包列表... 完成 正在分析软件包的依赖关系树 正在读取状态信息... 完成 E: 无法定位软件包 ros-melodic-desktop-full ``` 更改镜像源还是无法定位。 [ubuntu 下安装ROS失败的解决方法总结](https://www.jianshu.com/p/a2a9103501c8) 参照下面的链接可以进行下一步 了 [Ubuntu18.04.1安装ROS（'E:无法定位软件包'）](https://blog.csdn.net/haiyinshushe/article/details/84256137) 只要更新那一步骤出错，我们就无法在下一步安装时定位到软件包。 ```bash E: 无法下载 http://mirrors.ustc.edu.cn/ros/ubuntu/dists/bionic/main/binary-amd64/Packages.gz 文件尺寸不符(755768 != 755589)。您使用的镜像正在同步中？ [IP: 202.141.160.110 80] Hashes of expected file: - Filesize:755589 [weak] - SHA256:8b22dcaa6bf1406f852f10c1ccf8e8856857698a34ff18c41e44df54049e895e - SHA1:99d9bdde30d23acfe55a7b651ad058d332e5c1fc [weak] - MD5Sum:22d120a1341089964c3115dc13d9954d [weak] Release file created at: Tue, 27 Apr 2021 12:52:49 +0000 E: 部分索引文件下载失败。如果忽略它们，那将转而使用旧的索引文件。 user@user-B460MPOWER:~$ sudo apt-get install ros-melodic-desktop-full 正在读取软件包列表... 完成 正在分析软件包的依赖关系树 正在读取状态信息... 完成 E: 无法定位软件包 ros-melodic-desktop-full user@user-B460MPOWER:~$ ``` [W: 部分索引文件下载失败。如果忽略它们，那将转而使用旧的索引文件。](https://blog.csdn.net/qq_36063562/article/details/94888843) 使用官网太慢 [ubuntu18.04下为ros-melodic添加清华源加快下载速度](https://blog.csdn.net/weixin_43059285/article/details/108014783) 两者速度对比一下 ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210518180146441.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) [sudo rosdep init 找不到命令解决办法](https://blog.csdn.net/weixin_43958086/article/details/108277651) ```bash sudo apt install python-rosdep2 -y ``` > Q:为什么我的代码比别人多了个-y? > A:因为这些代码基本上复制执行就是要安装的，省去你一会还要输入y+回车的时间 ```bash user@user-B460MPOWER:~$ export | grep ROS declare -x ROS_DISTRO="melodic" declare -x ROS_ETC_DIR="/opt/ros/melodic/etc/ros" declare -x ROS_MASTER_URI="http://localhost:11311" declare -x ROS_PACKAGE_PATH="/opt/ros/melodic/share" declare -x ROS_PYTHON_VERSION="2" declare -x ROS_ROOT="/opt/ros/melodic/share/ros" declare -x ROS_VERSION="1" ``` # ORB-SLAM [ORB-SLAM2的安装与运行](https://blog.csdn.net/learning_tortosie/article/details/79881165) ==fatal: 过早的文件结束符（EOF）== ```bash user@user-B460MPOWER:~/github$ git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3 正克隆到 'ORB_SLAM3'... remote: Enumerating objects: 800, done. remote: Counting objects: 100% (74/74), done. remote: Compressing objects: 100% (72/72), done. error: RPC failed; curl 18 transfer closed with outstanding read data remaining fatal: The remote end hung up unexpectedly fatal: 过早的文件结束符（EOF） fatal: index-pack 失败 ``` # 安装VINS ```bash git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git ``` ```c sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport ``` ==根据`readme.md`进行编译，记得18。04 对应melodic,16.04对应kinetic 最开始写错版本的时候会在home隐藏文件里面添加kinetic，所以我们在home文件下`Ctril+H`显示隐藏文件，打开`.bashrc` 把最后几行和kinetic相关的东西删掉就好。== ```bash user@user-B460MPOWER:~/github/catkin_ws$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc user@user-B460MPOWER:~/github/catkin_ws$ source ~/.bashrc bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 user@user-B460MPOWER:~/github/catkin_ws$ catkin_init_workspace Creating symlink "/home/user/github/catkin_ws/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake" user@user-B460MPOWER:~/github/catkin_ws$ cd src user@user-B460MPOWER:~/github/catkin_ws/src$ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc user@user-B460MPOWER:~/github/catkin_ws/src$ source ~/.bashrc bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 bash: /opt/ros/kinetic/setup.bash: 没有那个文件或目录 user@user-B460MPOWER:~/github/catkin_ws/src$ catkin_init_workspace Creating symlink "/home/user/github/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake" user@user-B460MPOWER:~/github/catkin_ws/src$ cd .. user@user-B460MPOWER:~/github/catkin_ws$ catkin_make Base path: /home/user/github/catkin_ws Source space: /home/user/github/catkin_ws/src Build space: /home/user/github/catkin_ws/build Devel space: /home/user/github/catkin_ws/devel Install space: /home/user/github/catkin_ws/install ``` ![在这里插入图片描述](https://img-blog.csdnimg.cn/2021051909315158.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) ```bash roslaunch ar_demo 3dm_bag.launch roslaunch ar_demo ar_rviz.launch rosbag play /home/user/github/dataset/ar_box.bag ``` 在运行roslaunch一步时候发现： ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210519094803170.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) ```bash RLException: [3dm_bag.launch] is neither a launch file in package [ar_demo] nor is [ar_demo] a launch file name The traceback for the exception was written to the log file ``` 这是因为没有`source devel/setup.bash`的缘故，记得roslaunch文件要分三个终端运行，每次运行前都要有`source devel/setup.bash` ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210519101234815.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center) ![在这里插入图片描述](https://img-blog.csdnimg.cn/20210519101234770.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80NDk5MTY3Mw==,size_16,color_FFFFFF,t_70#pic_center)