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osdk 环境配置.md
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osdk 环境配置.md
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```
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sudo vi /etc/udev/rules.d/DJIDevice.rules
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SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"
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sudo usermod -a -G dialout $USER
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echo "deb https://mirrors.bfsu.edu.cn/ros/ubuntu/ focal main" >> /etc/apt/sources.list.d/ros-latest.list
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"" >> /etc/udev/rules.d/DJIDevice.rules
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```
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```
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sudo usermod -a -G dialout $USER
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echo "deb https://mirrors.bfsu.edu.cn/ros/ubuntu/ bionic main" >> /etc/apt/sources.list.d/ros-latest.list
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sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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echo "SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"" >> /etc/udev/rules.d/DJIDevice.rules
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sudo sed -i "s@http://.*archive.ubuntu.com@https://mirrors.bfsu.edu.cn@g" /etc/apt/sources.list
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sudo sed -i "s@http://.*security.ubuntu.com@https://mirrors.bfsu.edu.cn@g" /etc/apt/sources.list
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sudo apt update
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sudo apt install ros-melodic-desktop-full
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sudo apt install libsdl2-dev ros-melodic-nmea-comms libcrypto++-dev
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sudo apt install libexosip2-dev
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echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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```
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## 允许root 登录
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编辑sshd_config
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sudo vim /etc/ssh/sshd_config
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找到PermitRootLogin 取消注释 然后改为yes
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重启ssh 服务
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service sshd restart
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```
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#LoginGraceTime 2m
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PermitRootLogin yes
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#StrictModes yes
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#MaxAuthTries 6
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#MaxSessions 10
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```
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## frp 配置
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service 文件编写
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sudo vi /etc/systemed/system/frpc.service
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```shell
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[Unit]
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# 服务名称，可自定义
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Description = frpcs server
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After = network.target syslog.target
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Wants = network.target
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[Service]
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Type = simple
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Restart=on-failure
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RestartSec=5s
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# 启动frps的命令，需修改为您的frps的安装路径
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ExecStart = /root/ah/frp_0.45.0_linux_arm64/frpc -c /root/ah/frp_0.45.0_linux_arm64/frpc.ini
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ExecReload= /root/ah/frp_0.45.0_linux_arm64/frpc reload -c /root/ah/frp_0.45.0_linux_arm64/frpc.ini
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[Install]
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WantedBy = multi-user.target
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```
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开机自启
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```shell
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sudo systemctl daemon-reload # 刷新配置
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sudo systemctl start frpc # 启动clash.service
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sudo systemctl enable frpc # 设置开机启动
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sudo systemctl status frpc
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```
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## crontab 开机自启
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```shell
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@reboot sleep 2;bash shell.sh
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```
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## ubuntu 文件系统修复
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```shell
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fsck -y /dev/sda1 # /dev/sda1 要修复的硬盘路径
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```
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### ros代码开机自启
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```shell
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sudo apt-get install ros-melodic-robot-upstart #安装依赖
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rosrun robot_upstart install dji_osdk_ros/launch/dji_vehicle_node.launch #设置ros服务
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sudo systemctl daemon-reload && sudo systemctl start dji #启动ros 服务
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rosrun robot_upstart uninstall dji #删除开机自启服务
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```
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@ -1,27 +0,0 @@
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-----BEGIN RSA PRIVATE KEY-----
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MIIEogIBAAKCAQEAlHPNVmnSIDJjDiu7SfVy2pZty/hyGufTTtxPKGX25xtAT+XH
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/NbwvoaRfh+Qt2hwkwwaAsmaCHX0M0IdcCPU/+PRjpBF0tvXpYpZE/XoQgs9imvh
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mH0LFv2oMk6R5YJYGqrqTYzHh1mq/wyCbkgdC09JnXQsoIG0EfsTH/9amplKFrM5
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b0amMS5dn1N47aTvhiMXL3BEOfmLwMrvHg6Q6ZhLF3mGkiv13n5PCx3ygw/a0qg/
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JmFoc3z14kjj5ZZPNgy6ehBvnE+9eiGqAE77w2alLABLcqtX0IMJGP9NFG1VhFQP
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2T2sxwIoTKFRZRxpTtRO7akamLye6MShROXwIwIDAQABAoIBABQUFZG6flEcf4lL
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IOm/6Ojnr7IGyGgbMtlXst0j7WEUrn4f9gychbM/QC5u1oP3/EHnQR1fZxX93imQ
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p6qjLgvuJEnD+a2rTl91dtbcS62jF4/BR6H4R6e0ZytmtRT1rDTvKQGUKOiFmDsm
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1f1Ug5kkADDrpZ2P7WsBKnUJdJe0LxHPkAxA64yZNFd1GYh3hACXhxvnlBWMDo3P
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NU84k/i//txD9W3RfE0I+9xOdHfM6iyj8WmqjvMhDxlKiWYNfa2QN/DeNGVAUTbY
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RkVRetUQMmTB4YIvYk8gqhKYSV7jTCDx2asws9q6aGPFic6tFFerhlXaKlyvBoYO
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6QihlwECgYEAtVdLceMhCGL9FcRyqmm/ZARGpgf4dQcYMWF1aK94Z3yVJ/pYIzBz
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fFPqZxNCirJwviE0ZoG4LQbRTEkU2HHmNrC7JWS1VWiXtjOlWasvjBH5HB2akSn3
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u4a2Cf+cNGeSYC9pgWO2xOaOMwJLfUccMA6jSXGtzJJY1MxKml8YKucCgYEA0ZIo
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4YuoKeQ8WAJYdd0M7MZhTXlL6Si1zDmBy8qasMfuH4ZoCiVy3lIMt8H0zF7oEN1n
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41clSVqmDZLq9MrTG2+pOKId9DXkqjAH8w8fbpR1o0CkZDeUDu44Zg1N9OMEOoX0
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4MwZ4RPLqnvW0pv0Hzx/oo5zcWiLb9sqHGX1hWUCgYBASpG579+vPIEj7YEFv/YV
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/JoblSnWO8ys/TOGCOf0MKwk/1GuMChRhOLO5nop+DeWgOk2CnmEpS0hEavtTPxk
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mWXQTRMpE6rt8wOFdfamf1zFRg2dt7ZX6tuxUclMnwe7SDPsprCOwHrbxM2EvehV
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dWsYx8/pfl02HLO6ZUqJMwKBgCPHlW00f8hvLBJGjD3LOKqwD+q/O8OZ7LfqVYuq
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kpB+AdymANtCm4LzdTJmTdoalfpTIqqAtV/5twH4RF74xeQYQ0bk/sIz9U9NFf5c
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ZZxmglMV9Tsa9g86gqyBtv6JR66KMk2y6vQvggUgUYPxllNC6/Of6HvDQpMdUuo4
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Shu1AoGAdYm+ARno5+L66QigS/WM6CYQ9OEMPmxhixN3zbcVhxrfOYDEHEa+KYgq
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d1lxEN2huZeNSx52zXR9Txk12vLVgvdivRnrOCsKU7uL3OUuctZ2nseR2Si3vzMO
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JD2qu6pwBUjmP83EqcGIuoYk2P7S7p+fIExzZ2YmCRHhH7z5C1s=
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-----END RSA PRIVATE KEY-----
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10
周报.md
10
周报.md
@ -1,10 +0,0 @@
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激光雷达板卡软硬件联调
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联调发现许多预料不到的问题，核心板硬件也疑似损坏，下周继续
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星基板卡测试和衢州演示汇报
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在衢州山区无信号地区测试效果还可以。
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星基板卡优化和测试
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激光雷达板卡软硬件联调
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