Ubuntu16.04 配置记录（持续更新）

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