装机教程

在装完Ubuntu20.04后，配置团队相关的东西的配置文档

Ubuntu20.04的安装在b站有许多教程，跟着来就好

linux安装

先搞个系统盘然后进入bios更改启动顺序为USB驱动第一
重启按esc进入启动引导界面将Ubuntu调为第一
按照提示选择到分配磁盘
- /swap 分电脑运存那么多
- /efi 分4G 用来放启动引导
- / 其他的都放这里

Linux的基本操作

打开终端：ctrl+alt+T（之后输入的命令都是输入到终端里面）
- 终端就是输入命令的窗口，Windows的cmd一样
- ==在终端内ctrl+shift+c才是复制，ctrl+shift+v粘贴==
基础命令
- cd 进入一个文件夹
- mkdir 创建一个文件夹
Tab可以在输入命令时补全命令，可以增加敲命令的速度，也可以在忘记命令的时候起到提示的作用
按键盘上键可以重复上一条命令

sudo免密

安装vim

sudo apt install vim

sudo chmod u+w /etc/sudoers
sudo vim /etc/sudoers
//在最后一行代码后加入
user ALL=(ALL:ALL) NOPASSWD: ALL
（user 为用户名）

Pigcha

用来翻墙的

http://101.34.95.10:8081/?platform=linux_x86_64&cur_version=1672215479

.deb文件的安装

dpkg -i xxx.deb

Typora

写.md文档

https://typoraio.cn/#linux

ros的安装

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

这是运行这个脚本的命令，按照他提示就好,它会提醒你需要换源（换源是为了更快更好的安装一些东西），输入的全部为11211（==注意一定要安装ROS1，notice版本==）

同时把rosdepc也下好

pip3

用于之后的下载用的

sudo apt-get install python3-pip

catkin_tools

用于之后运行代码

 sudo pip3 install -U catkin_tools

rosmon

用来运行代码

sudo apt install ros-${ROS_DISTRO}-rosmon

Github

用于拉取团队代码和版本管理

团队代码

需要先了解一下Git，工作空间，ssh

Git是一个工具用来管理代码的管理
工作空间是ROS下一种类似文件夹的东西，规定了里面的包含的最基本的东西
ssh是用来安全连接的，用来登nuc和拉代码的

第一步：配置好ssh

设置git的user name和email

git config --global user.name "LSY"
git config --global user.email "2028238109@qq.com"

检查是否存在SSH Key

cd ~/.ssh
ls
//看是否存在 id_rsa 和 id_rsa.pub文件，如果存在，说明已经有SSH Key

没有就生成一个

ssh-keygen -t rsa -C "2028238109@qq.com"

一直按回车

然后拷贝密钥

cat id_rsa.pub
//拷贝秘钥 ssh-rsa开头

去github添加SSH Key
- 点头像setting

第二步：创建一个工作空间

http://wiki.ros.org/cn/ROS/Tutorials/InstallingandConfiguringROSEnvironment（官方教程，下面是具体操作的命令）

mkdir -p ~/rm_ws/src
cd ~/rm_ws/src
catkin_init_workspace
cd ..
catkin built

第三步：拉团队代码

安装git

sudo apt install git

团队代码仓库

https://github.com/rm-controls

先把仓库的代码fork到自己仓库，然后再用ssh克隆到工作空间

cd rm_ws/src
git clone git@github.com:L-SY/rm_control.git
git clone git@github.com:L-SY/rm_controllers.git
git clone git@github.com:L-SY/rm_manual.git
git clone git@github.com:L-SY/rm_config.git
git clone git@github.com:L-SY/rm_description.git
git clone git@github.com:L-SY/rm_bringup.git

直接复制多个就可以帮你一次性git完

在编译前先使用rosdepc(在rm_ws下)

rosdepc install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

配置.bashrc

编辑.bashrc

vim .bashrc

==vim是一个编辑工具进去之后先按任意键就可以进入编辑模式，编辑完之后按ESC退出编辑模式，按 :wq（这是保存退出的意思）==

进去之后全删了复制粘贴下面的

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
        # We have color support; assume it's compliant with Ecma-48
        # (ISO/IEC-6429). (Lack of such support is extremely rare, and such
        # a case would tend to support setf rather than setaf.)
        color_prompt=yes
    else
        color_prompt=
    fi
fi

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi
source /opt/ros/noetic/setup.bash
source ~/rm_ws/devel/setup.bash
export PATH=/home/lsy/snap/clion/198/bin:$PATH


export ROS_IP=`ifconfig | grep -Eo 'inet (addr:)?([0-9]*\.){3}[0-9]*' | grep -Eo '([0-9]*\.){3}[0-9]*' | grep -v '127.0.0.1' | grep -v '172.17.0.1'`

if  test -z "${ROS_IP}"
then
        export ROS_IP=`dig +short localhost`
fi

export ROS_MASTER_URI=http://192.168.2.220:11311
echo "ROS IP: ${ROS_IP}
ROS Master URI: ${ROS_MASTER_URI}"

alias setcan0='sudo ip link set can0 up type can bitrate 1000000'
alias setcan1='sudo ip link set can1 up type can bitrate 1000000'
alias setcan2='sudo ip link set can2 up type can bitrate 1000000'
alias setcan3='sudo ip link set can3 up type can bitrate 1000000'
alias engineer='ssh dynamicx@192.168.2.220'
alias balance='ssh dynamicx@192.168.1.110'
alias hero='ssh dynamicx@192.168.1.101'
alias standar4='ssh dynamicx@192.168.1.104'
alias standar5='ssh dynamicx@192.168.1.105'
alias standar3='ssh dynamicx@192.168.1.103'
alias sentry='ssh dynamicx@192.168.1.111'
export ROBOT_TYPE=engineer
alias engineer_client='rosrun actionlib_tools axclient.py /engineer_middleware/move_steps'
alias note='typora rm_note/rm_clion/rm_manual.md'
alias rqt_joint='rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller'
export filepath="/etc/apt/"
alias load_ros='mon launch engineer_arm_config start.launch'
alias load_controller='. load.sh'
alias bringup="mon launch rm_bringup engineer.launch "
alias use_current="rosrun moveit_commander moveit_commander_cmdline.py"

export MVCAM_SDK_PATH=/opt/MVS

export MVCAM_COMMON_RUNENV=/opt/MVS/lib
export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH

clion

用于看代码写代码

https://www.jetbrains.com/zh-cn/clion/download/download-thanks.html?platform=linux

（可能有点久）

解压

tar -xzvf CLion-2022.3.2.tar.gz

以上基本配置就完成了！！！

团队学习网站

https://dynamic-x-docs.netlify.app/

实车配置

ssh免密

ssh-copy-id dynamicx@host

配置CLion
- 配置deployment
- 首先，在deployment处点击添加符号，文件类型选择SFTP，并命名为engineer
- 接下来是配置connection,点击SSH configuration处的省略号配置SSH

接下来在Mapping里配置

现在这一步是把本地的路径映射到目标主机上去

本地路径分别是：/home/username/工作空间名/src 对应的deployment path为/home/dynamicx/rm_ws/src（固定的）

/home/username/工作空间名/src/remote_devel/lib 对应的deployment path为/home/dynamicx/rm_ws/src/devel/lib

/home/username/工作空间名/src/remote_devel/include 对应的deployment path为/home/dynamicx/rm_ws/devel/include

配置好之后应用再点击OK

最后一步是配置Excluded path

同样是点击添加符号，然后输入路径为/home/username/工作空间名/src/remote_build

然后配置好SSH之后退出到deployment界面，同样点击Apply，再点击OK，完成上述流程之后就完全配置好了，如果需要进行远程传输，则进行如下

Clion配置（为了兼容catkin build和catkin_make)
- 打开 File | Settings | Build, Execution, Deployment | CMake
- 将 CMake options 的值更改为 -DCATKIN_DEVEL_PREFIX=../devel
- 将 Build directory 的值更改为../build

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装机教程.md

装机教程.md

装机教程

linux安装

Linux的基本操作

sudo免密

安装vim

Pigcha

Typora

ros的安装

pip3

catkin_tools

rosmon

Github

团队代码

需要先了解一下Git，工作空间，ssh

第一步：配置好ssh

第二步：创建一个工作空间

第三步：拉团队代码

安装git

团队代码仓库

配置.bashrc

编辑.bashrc

clion

团队学习网站

实车配置

Files

装机教程.md

Latest commit

History

装机教程.md

File metadata and controls

装机教程

linux安装

Linux的基本操作

sudo免密

安装vim

Pigcha

Typora

ros的安装

pip3

catkin_tools

rosmon

Github

团队代码

需要先了解一下Git，工作空间，ssh

第一步：配置好ssh

第二步：创建一个工作空间

第三步：拉团队代码

安装git

团队代码仓库

配置.bashrc

编辑.bashrc

clion

团队学习网站

实车配置