Setup - HackMD

# Setup Fixed Frame [map] does not exist ## Jetson nx setup - [系統安裝步驟](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit) - Jetson Xavier NX Developer Kit SD Card Image [[Download](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/jp_4.6.1_b110_sd_card/jetson_xavier_nx/jetson-nx-jp461-sd-card-image.zip)] #### 系統更新 ```bash $ sudo apt-get update $ sudo apt-get -y dist-upgrade $ sudo apt update ``` #### 安裝 git ```bash $ sudo apt-get install git ``` #### install VSCode The easiest way to install for Debian/Ubuntu based distributions is to download from https://code.visualstudio.com and install the .deb package (64-bit) either through the graphical software center if it's available or through the command line with: ```bash $ sudo dpkg -i <file>.deb $ sudo apt-get install -f ``` --- ## 遠端桌面 xrdp setup ```bash $ sudo apt-get install tightvncserver xrdp $ sudo reboot ``` xubuntu-desktop install ```bash $ sudo apt-get install xubuntu-desktop $ echo xfce4-session >~/.xsession $ sudo service xrdp restart ``` :::spoiler [參考資料](https://blog.cavedu.com/2019/12/19/jetson-nano-remote-desktop-windows-mac-osx/) ::: --- ## FTP setup ```bash $ sudo apt install vsftpd ``` 驗證vsftpd是否安裝成功並且正常啟動 ```bash $ systemctl status vsftpd $ netstat -tupln | grep ftp ``` 修改vsftpd.conf: ```bash $ sudo vim /etc/vsftpd.conf ``` cinfig ```python # Allow anonymous FTP? (Disabled by default). anonymous_enable = YES # Uncomment this to enable any form of FTP write command. write_enable=YES # Uncomment this to allow the anonymous FTP user to upload files. # This only # has an effect if the above global write enable is activated. Also, you will # obviously need to create a directory writable by the FTP user. anon_upload_enable=YES ``` ## YDLIDAR X2 #### Compile and Install YDlidar-SDK SDK install ```bash $ git clone https://github.com/YDLIDAR/YDLidar-SDK.git $ cd YDLidar-SDK/build $ cmake .. $ make $ sudo make install ``` **python API** if you want to use python API, you need to install python and swig(3.0 or higher): ```bash $ sudo apt-get install python swig $ sudo apt-get install python-pip ``` python API install separtately: ```bash $ cd YDLidar-SDK $ pip install . # Another method # $ python setup.py build # $ python setup.py install ``` #### ROS Melodic sourse.list setting and update ```bash $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' $ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 $ sudo apt update ``` Package environment Settings ```bash $ sudo apt install ros-melodic-desktop-full $ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc $ source ~/.bashrc ``` :::danger :warning: **建議完成後重新啟動系統** ```bash $ sudo reboot ``` ::: #### ROS Driver Installation Cloning GitHub's YDlidar ROS Driver Package and build ```bash $ git clone https://github.com/YDLIDAR/ydlidar_ros_driver.git ydlidar_ws/src/ydlidar_ros_driver $ cd ydlidar_ws $ catkin_make ``` Package environment Settings ```bash $ source ./devel/setup.sh $ echo "source ~/ydlidar_ws/devel/setup.bash" >> ~/.bashrc $ source ~/.bashrc ``` #### ROS OPERATION #### Run the ydlidar_ros_driver ```bash $ roslaunch ydlidar_ros_driver X2.launch ``` #### RVIZ View Scan Results ```bash $ roslaunch ydlidar_ros_driver lidar_view.launch ``` :::info :bulb: Note: Take G4 as an example by default, if use other types of lidar, need to change lidar.launch in lidar_view.launch file to the corresponding \*\*.launch file. (If X2 lidar is used, it needs to be changed to X2.launch) ![](https://i.imgur.com/q1SP0j4.png) ::: :::spoiler - [YDLIDAR SDK](https://github.com/YDLIDAR/YDLidar-SDK) - [YDLIDAR X2 Lidar User Manual](https://www.ydlidar.com/Public/upload/files/2022-06-21/YDLIDAR%20X2%20Lidar%20User%20Manual%20V1.3(211228).pdf) - [ROS基本環境設置](https://ithelp.ithome.com.tw/articles/10239445) ::: rosrun gmapping slam_gmapping scan:=scan _delta:=0.1 _maxUrange:=4.99 _xmin:=-5.0 _ymin:=-5.0 _xmax:=5.0 _ymax:=5.0 _particles:=30 _srr:=0 _srt:=0 _str:=0 _stt:=0.1 _minimumScore:=10000 ``` <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.20 0 0 0 0 0 base_link laser 50" /> ``` [<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.20 0 0 0 0 0 base_link laser 50" />](https://www.guyuehome.com/34092) --- #### 檢查是否有nvm (nodejs) 檢查是否已有nodejs ```bash $ node -v ``` 檢查是否已有nvm(有則略過下方安裝) ```bash $ nvm --version ``` 沒有安裝nvm 則先移除nodejs(若有安裝) ```bash $ sudo npm uninstall npm -g ``` --- #### 安裝nvm (nodejs) ```bash! $ sudo apt install curl $ curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.34.0/install.sh | bash ``` 安裝完後**重新開啟終端機**檢查是否安裝成功 ```bash! $ nvm --version ``` 安裝nodejs ```bash! # nvm install (版本) $ nvm install v16.14.0 ``` 檢查是否安裝成功 ```bash! $ node -v ```