121 lines
2.7 KiB
Markdown
121 lines
2.7 KiB
Markdown
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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 ah_psdk_ros/launch/main.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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``` |