Ubuntu16.04 配置记录（持续更新）

「爱情、让人受尽委屈。」 2022-03-18 04:48 354阅读 0赞

# Ubuntu16.04 配置记录 #

### 1.安装中文输入法 ###

https://www.cnblogs.com/darklights/p/7722861.html

### 2.修改终端命令行路径长度 ###

https://blog.csdn.net/alex_equal/article/details/50081819

### 3.安装Clion ###

https://blog.csdn.net/u010925447/article/details/73251780
    https://blog.csdn.net/krais_wk/article/details/80970355

### 4.配置Opencv3.4.3 ###

https://blog.csdn.net/u014709760/article/details/87704428

### 5.配置ORB\_SLAM2 ###

https://blog.csdn.net/u014709760/article/details/85253525

### 6.安装matlab ###

https://blog.csdn.net/qq_32892383/article/details/79670871

### 7.安装vscode ###

https://blog.csdn.net/lizhe_dashuju/article/details/79161059

### 8.配置ROS环境 ###

https://www.ncnynl.com/archives/201801/2273.html

### 9.配置邮箱 ###

https://jingyan.baidu.com/article/3ea51489d192c752e61bbae0.html
     https://jingyan.baidu.com/article/c85b7a64be9284003bac9535.html

### 10.安装谷歌浏览器 ###

https://blog.csdn.net/qq551551/article/details/78885704

### 11.安装Ceres库 ###

https://blog.csdn.net/jz1570551401/article/details/78207208
     https://blog.csdn.net/qq_27806947/article/details/80228125

### 12.安装画图工具 dia ###

https://blog.csdn.net/xiao_yuanjl/article/details/82999442

### 13.配置 VINS 算法 ###

安装依赖项：

sudo apt-get install ros-kinetic-cv-bridge ros-kinetic-tf ros-kinetic-message-filters ros-kinetic-image-transport

安装：

cd ~/catkin_ws/src
     git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
     cd ../
     catkin_make
     source ~/catkin_ws/devel/setup.bash

运行：在～/catkin\_ws路径下打开三个终端，分别执行以下命令

roslaunch vins_estimator euroc.launch
    roslaunch vins_estimator vins_rviz.launch
    rosbag play /home/Andy/my_workspace/Dataset/EuRoc/MH_01_easy.bag

15.ROS常用命令  
单独编译工作空间某个包：  
catkin\_make -D CATKIN\_WHITELIST\_PACKAGES=“package name”

记录指定topic:
        rosbag record -O new_data-1 /cam0/image_raw_1 /imu1

16.apt-get被占用的情况：

ps -A|grep apt
     sudo kill -9 5644 #杀死相应进程

17.常用解压命令  
.tar 文件

tar -xvf FileName.tar         # 解包
    tar -cvf FileName.tar DirName # 将DirName和其下所有文件（夹）打包

.gz文件

gunzip FileName.gz  # 解压1
    gzip -d FileName.gz # 解压2
    gzip FileName       # 压缩，只能压缩文件

.tar.gz文件、 .tgz文件

tar -zxvf FileName.tar.gz               # 解压
    tar -zcvf FileName.tar.gz DirName       # 将DirName和其下所有文件（夹）压缩
    tar -C DesDirName -zxvf FileName.tar.gz # 解压到目标路径

.zip文件

unzip FileName.zip          # 解压
    zip FileName.zip DirName    # 将DirName本身压缩
    zip -r FileName.zip DirName # 压缩，递归处理，将指定目录下的所有文件和子目录一并压缩

.rar文件

rar x FileName.rar      # 解压
    rar a FileName.rar DirName # 压缩

18.ROS创建工作空间  
创建一个ROS Workspace 的方法总结：

mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    catkin_init_workspace
    cd ~/catkin_ws/
    catkin_make
    source devel/setup.bash

1.  Ubuntu每次启动都显示System program problem detected的解决办法

sudo gedit /etc/default/apport

将enabled=1改为enabled=0保存退出即可