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樹莓派4B+Ubuntu18.04+ROS(一)樹莓4B+Ubuntu18.04+ROS(一)

樹莓派4B+Ubuntu18.04+ROS

  • 樹莓4B+Ubuntu18.04+ROS(一)
    • 删除不必要的自帶軟體
    • 改變swap空間容量為8G
    • 解決Ubuntu18.04網絡圖示問題
    • 安裝遠端控制軟體teamviewer
    • 将TX2上調試好的程式移植到樹莓派上
    • 樹莓派4B ubuntu 18.04不輸入密碼啟動和不接顯示器工作
    • 樹莓派4B ubuntu 18.04啟動後預設執行一個python腳本
    • ubuntu18.04開機進入指令行模式或還原

樹莓4B+Ubuntu18.04+ROS(一)

這是樹莓派4B 4G成功安裝了Ubuntu18.04+ROS後所需要做的一些配置。将TX2編譯成功地ROS包放到樹莓派中再次進行編譯使用。

删除不必要的自帶軟體

參考：[link1] https://blog.csdn.net/paulkg12/article/details/84864008

[link2] https://jingyan.baidu.com/article/bad08e1e244b2109c85121f1.html

改變swap空間容量為8G

參考：[link1] https://blog.csdn.net/weixin_43053387/article/details/89204760

[link2] https://www.cnblogs.com/vcan123/p/12218927.html

sudo dd if=/dev/zero of=/opt/image/swap bs=1024 count=8192000

需要注意的地方：bs=1024相當于機關

解決Ubuntu18.04網絡圖示問題

參考：[link1] https://blog.csdn.net/kk_so_good/article/details/106025279?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf

[link2] https://blog.csdn.net/anlian523/article/details/102561789?utm_medium=distribute.pc_relevant.none-task-blog-title-4&spm=1001.2101.3001.4242

[link3] https://blog.csdn.net/qck15570179927/article/details/103059302

有線網絡未托管，解決方案如下:

修改/usr/lib/NetworkManager/conf.d/10-globally-managed-devices.conf

找到“unmanaged-devices”一行，在最後添加“,except:type:ethernet”

然後運作：sudo systemctl restart NetworkManager

安裝遠端控制軟體teamviewer

參考：[link1] https://blog.csdn.net/qq_40858216/article/details/104515567?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.add_param_isCf

推薦去官網下載下傳最新版本的teamviewer

sudo dpkg --add-architecture armhf
sudo apt update
sudo apt-get install libxtst6:armhf //如果不安裝這個連接配接teamviewer後無法啟動
sudo dpkg -i '安裝包'
sudo apt install -f //在根目錄下運作
//啟動teamviewer服務
sudo teamviewer --daemon enable
//設定連接配接密碼
sudo teamviewer –passwd 123456
//檢視Teamviewerid
sudo teamviewer --daemon enable

将TX2上調試好的程式移植到樹莓派上

1 bds_driver需要依賴nmea_msgs

sudo apt-get install ros-melodic-nmea-msgs

2 imu_gps_localization

錯誤：glog/logging.h: No such file or directory

解決方法：

sudo apt-get install libgoogle-glog-dev

fatal error: Eigen/Core: No such file or directory

include <Eigen/Core>

解決方法：

安裝eigen

sudo apt-get install libeigen3-dev

解決确認已安裝後仍出現 fatal error: Eigen/Core: No such file or directory

當調用 eigen 庫時，會報錯：fatal error: Eigen/Core: No such file or directory

這是因為 eigen 庫預設安裝在了 /usr/include/eigen3/Eigen 路徑下，需使用下面指令映射到 /usr/include 路徑下

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

3 rslidar_driver

fatal error: pcap.h: No such file or directory #include <pcap.h>

sudo apt-get install libcap-dev
sudo apt-get install libpcap0.8-dev 
sudo apt-get install libpcap-dev

4 将一些.py檔案賦予執行權限

5 将pyQt搜尋圖檔路徑更改為Ubuntu下的路徑

6 laser_filters的.yaml檔案需要修改

樹莓派4B ubuntu 18.04不輸入密碼啟動和不接顯示器工作

參考：[link1] https://blog.csdn.net/fuck_hang/article/details/105766070

sudo gedit /boot/firmware/config.txt

修改config.txt内容，在檔案最後添加如下内容

hdmi_force_hotplug=1
hdmi_drive=2
hdmi_group=2
hdmi_mode=47

hdmi_force_hotplug：強制樹莓派使用HDMI端口，即使樹莓派沒有檢測到顯示器連接配接仍然使用HDMI端口。該值為0時允許樹莓派嘗試檢測顯示器，當該值為1時，強制樹莓派使用HDMI。

hdmi-drive：可以使用該配置項來改變HDMI端口的電壓輸出：

1-DVI輸出電壓。該模式下，HDMI輸出中不包含音頻信号。

2-HDMI輸出電壓。該模式下，HDMI輸出中包含音頻信号。

hdmi_group與hdmi_mode決定的分辨率

DMT分辨率是hdmi_group=2，計算機顯示器使用的分辨率；hdmi_group=1是CEA分辨率 ，CEA規定的電視規格分辨率。

以下是DMT分辨率。這些分辨率的hdmi_group=2。根據需求自行更換hdmi_mode的值

hdmi_mode=1    640x350   85Hz
hdmi_mode=2    640x400   85Hz
hdmi_mode=3    720x400   85Hz
hdmi_mode=4    640x480   60Hz
hdmi_mode=5    640x480   72Hz
hdmi_mode=6    640x480   75Hz
hdmi_mode=7    640x480   85Hz
hdmi_mode=8    800x600   56Hz
hdmi_mode=9    800x600   60Hz
hdmi_mode=10   800x600   72Hz
hdmi_mode=11   800x600   75Hz
hdmi_mode=12   800x600   85Hz
hdmi_mode=13   800x600   120Hz
hdmi_mode=14   848x480   60Hz
hdmi_mode=15   1024x768  43Hz  DO NOT USE
hdmi_mode=16   1024x768  60Hz
hdmi_mode=17   1024x768  70Hz
hdmi_mode=18   1024x768  75Hz
hdmi_mode=19   1024x768  85Hz
hdmi_mode=20   1024x768  120Hz
hdmi_mode=21   1152x864  75Hz
hdmi_mode=22   1280x768        reduced blanking
hdmi_mode=23   1280x768  60Hz
hdmi_mode=24   1280x768  75Hz
hdmi_mode=25   1280x768  85Hz
hdmi_mode=26   1280x768  120Hz reduced blanking
hdmi_mode=27   1280x800        reduced blanking
hdmi_mode=28   1280x800  60Hz
hdmi_mode=29   1280x800  75Hz
hdmi_mode=30   1280x800  85Hz
hdmi_mode=31   1280x800  120Hz reduced blanking
hdmi_mode=32   1280x960  60Hz
hdmi_mode=33   1280x960  85Hz
hdmi_mode=34   1280x960  120Hz reduced blanking
hdmi_mode=35   1280x1024 60Hz
hdmi_mode=36   1280x1024 75Hz
hdmi_mode=37   1280x1024 85Hz
hdmi_mode=38   1280x1024 120Hz reduced blanking
hdmi_mode=39   1360x768  60Hz
hdmi_mode=40   1360x768  120Hz reduced blanking
hdmi_mode=41   1400x1050       reduced blanking
hdmi_mode=42   1400x1050 60Hz
hdmi_mode=43   1400x1050 75Hz
hdmi_mode=44   1400x1050 85Hz
hdmi_mode=45   1400x1050 120Hz reduced blanking
hdmi_mode=46   1440x900        reduced blanking
hdmi_mode=47   1440x900  60Hz
hdmi_mode=48   1440x900  75Hz
hdmi_mode=49   1440x900  85Hz
hdmi_mode=50   1440x900  120Hz reduced blanking
hdmi_mode=51   1600x1200 60Hz
hdmi_mode=52   1600x1200 65Hz
hdmi_mode=53   1600x1200 70Hz
hdmi_mode=54   1600x1200 75Hz
hdmi_mode=55   1600x1200 85Hz
hdmi_mode=56   1600x1200 120Hz reduced blanking
hdmi_mode=57   1680x1050       reduced blanking
hdmi_mode=58   1680x1050 60Hz
hdmi_mode=59   1680x1050 75Hz
hdmi_mode=60   1680x1050 85Hz
hdmi_mode=61   1680x1050 120Hz reduced blanking
hdmi_mode=62   1792x1344 60Hz
hdmi_mode=63   1792x1344 75Hz
hdmi_mode=64   1792x1344 120Hz reduced blanking
hdmi_mode=65   1856x1392 60Hz
hdmi_mode=66   1856x1392 75Hz
hdmi_mode=67   1856x1392 120Hz reduced blanking
hdmi_mode=68   1920x1200       reduced blanking
hdmi_mode=69   1920x1200 60Hz
hdmi_mode=70   1920x1200 75Hz
hdmi_mode=71   1920x1200 85Hz
hdmi_mode=72   1920x1200 120Hz reduced blanking
hdmi_mode=73   1920x1440 60Hz
hdmi_mode=74   1920x1440 75Hz
hdmi_mode=75   1920x1440 120Hz reduced blanking
hdmi_mode=76   2560x1600       reduced blanking
hdmi_mode=77   2560x1600 60Hz
hdmi_mode=78   2560x1600 75Hz
hdmi_mode=79   2560x1600 85Hz
hdmi_mode=80   2560x1600 120Hz reduced blanking
hdmi_mode=81   1366x768  60Hz
hdmi_mode=82   1080p     60Hz
hdmi_mode=83   1600x900        reduced blanking
hdmi_mode=84   2048x1152       reduced blanking
hdmi_mode=85   720p      60Hz
hdmi_mode=86   1366x768        reduced blanking

樹莓派4B ubuntu 18.04啟動後預設執行一個python腳本

1 使用開機啟動工具robot-upstart

[link1] https://www.jianshu.com/p/1c0a21adb980

這裡一定要注意服務的名稱。

[link2] http://www.360doc.com/content/17/0805/16/7821691_676873843.shtml

[link3] https://blog.csdn.net/sunyoop/article/details/78261461

2 使用.sh腳本啟動

[link1] https://blog.csdn.net/weixin_44407855/article/details/108080360

[link2] https://www.freesion.com/article/8643867900/

比較了兩種方法，第二種更加友善一些。

ubuntu18.04開機進入指令行模式或還原

在修改樹莓派參數後導緻樹莓派黑屏等無法進入圖形化操作界面時可以通過以下方法進入指令行模式，對系統進行必要的還原。

參考：【link1】https://blog.csdn.net/bjarnecpp/article/details/96897234

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