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Ubuntu 22.04 配置全过程

3 min read

Ventoy 安装 22.04 ,划了1000000左右出来

安装选择 Chinese, 根目录挂在/

先更新源和软件

sudo apt update
sudo apt upgrade-y

设置root

sudo passwd root

安装一些必要的

sudo apt install git vim -y

禁用 apt autoremove

echo 'APT::Get::AutomaticRemove "false";' | sudo tee -a /etc/apt/apt.conf.d/01autoremove
echo 'APT::Get::AutomaticRemove "false";' | sudo tee -a /etc/apt/apt.conf.d/00aptitude

禁用 nouveau

echo "blacklist nouveau" | sudo tee -a /etc/modprobe.d/blacklist.conf
echo "options nouveau modeset=0" | sudo tee -a /etc/modprobe.d/blacklist.conf
sudo update-initramfs -u
reboot
lsmod | grep nouveau # if no response,then success
sudo apt install lightdm -y #optional
sudo add-apt-repository ppa:graphics-drivers/ppa 
sudo apt install nvidia-drivers-550
sudo reboot (我忘记reboot了 sudo modprobe nvidia,这样nvidia-smi可以用了)

安装 cuda

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-ubuntu2204.pin
sudo mv cuda-ubuntu2204.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget https://developer.download.nvidia.com/compute/cuda/12.4.0/local_installers/cuda-repo-ubuntu2204-12-4-local_12.4.0-550.54.14-1_amd64.deb
sudo dpkg -i cuda-repo-ubuntu2204-12-4-local_12.4.0-550.54.14-1_amd64.deb
sudo cp /var/cuda-repo-ubuntu2204-12-4-local/cuda-*-keyring.gpg /usr/share/keyrings/
sudo apt-get update
sudo apt-get -y install cuda-toolkit-12-4
 
echo "export PATH=/usr/local/cuda-12.4/bin${PATH:+:${PATH}}" >> ~/.bashrc
echo "export LD_LIBRARY_PATH=/usr/local/cuda-12.4/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}" >> ~/.bashrc
source ~/.bashrc

cudnn

cd ~ && tar -xvf cudnn-linux-x86_64-8.9.7.29_cuda12-archive.tar.xz
sudo cp cudnn-linux-x86_64-8.9.7.29_cuda12-archive/include/* /usr/local/cuda-12.4/include
sudo cp cudnn-linux-x86_64-8.9.7.29_cuda12-archive/lib/* /usr/local/cuda-12.4/lib64
rm -rf cudnn-linux-x86_64-8.9.7.29_cuda12-archive.tar.xz cudnn-linux-x86_64-8.9.7.29_cuda12-archive/

安装ros2

wget http://fishros.com/install -O fishros
bash fishros

选择 1一键安装ros 2不更换系统源 1 humble 1 桌面版

自检

source /opt/ros/humble/setup.bash
ros2 wtf

输出,感觉不太对,先不管

/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/__init__.py: 118: UserWarning: Fail to call PackageCheck class functions.
/opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/__init__.py: 118: UserWarning: Fail to call PlatformCheck class functions.

All 3 checks passed

安装 miniconda

wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
 
bash Miniconda3-latest-Linux-x86_64.sh
 
conda config --set auto_activate_base false

Mindvision 官网下载

(root) ./install  #运行压缩包内的脚本,然后按提示重启
 
# 检查libMVSDK 权限
# -rwxr-xr-x 1 root root 1234567 Jan 1 12:34 libMVSDK.so
ls -lah | grep /lib/libMVSDK.so
sudo chmod 755 /lib/libMVSDK.so

安装 ws_livox

git clone https://github.com/Livox-SDK/livox-ros2-driver.git ws_livox/src
cd ws_livox
source /opt/ros/humble/setup.sh
colcon build
 
source install/setup.sh
ros2 launch src/livox_ros2_driver/launch/livox_lidar_launch.py1

安装tensorRT

cd ~ && wget https://developer.nvidia.com/downloads/compute/machine-learning/tensorrt/secure/8.6.1/tars/TensorRT-8.6.1.6.Linux.x86_64-gnu.cuda-12.0.tar.gz
tar -xzvf TensorRT-8.6.1.6.Linux.x86_64-gnu.cuda-12.0.tar.gz
sudo mv TensorRT-8.6.1.6 /opt/TensorRT-8.6.1.6
echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/opt/TensorRT-8.6.1.6/lib" >> ~/.bashrc
source ~/.bashrc

配置环境

conda create -n radar python==3.8.19
 
conda activate radar
pip config set global.index-url https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 
pip install torch torchvision --index-url https://download.pytorch.org/whl/cu124
python3 -c "import torch; print(torch.cuda.is_available())"
 
pip install opencv-python pyserial pexpect pyyaml scipy matplotlib tqdm thop requests psutil filterpy onnxruntime onnxruntime-gpu tensorrt

打开串口并使用

sudo apt purge brltty
sudo usermod -aG dialout $USER

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