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jstson nx环境配置

作者：盐析白兔 | 2024-05-03 00:35:12

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jstson nx环境配置

1、输入法

① “Language Support” 中将”Language“栏目最底下的“Chinese(China)”拖动到最上方，再点击“Apply System-Wide”，保存退出。
② “setting”中点击“Region & Language”，将Language设置为中文，Input Source添加智能拼音。

2、设置cuda环境变量并安装jtop

2.1 、cuda环境变量

在桌面 的.bashrc文件后添加：

export CUDA_HOME=/usr/local/cuda-10.2
export LD_LIBRARY_PATH=/usr/local/cuda-10.2/lib64:$LD_LIBRARY_PATH
export PATH=/usr/local/cuda-10.2/bin:$PATH

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nvcc --version
python --version
nvcc -V

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2.2、安装jtop

sudo apt install python3-pip
sudo -H pip3 install -U jetson-stats
sudo jtop

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3、VNC ubuntu上网

3、1 英伟达VNC设置官方链接

cd /usr/lib/systemd/user/graphical-session.target.wants
sudo ln -s ../vino-server.service ./.
gsettings set org.gnome.Vino prompt-enabled false
gsettings set org.gnome.Vino require-encryption false
gsettings set org.gnome.Vino authentication-methods "['vnc']"
# 将thepassword改为自己密码
gsettings set org.gnome.Vino vnc-password $(echo -n 'thepassword'|base64)
sudo reboot

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参考官方步骤，设置完成后找到setting->sharing 开启桌面共享

3.2 安装clash

先将打开电脑上clash的配置文件，复制到ubuntu主机，将最大的文件（里面有很多节点）重命名为config.yml。

sudo wget https://raw.githubusercontent.com/17870119463/opencv4.5/main/clash-linux-armv7-v1.9.0.gz
sudo gunzip clash-linux-armv7-v1.9.0.gz
sudo chmod +x clash-linux-armv7-v1.9.0
sudo mv clash-linux-armv7-v1.9.0 clash
sudo ./clash -f config.yml
sudo gedit ~/.bashrc
sudo gedit /etc/systemd/system/clash.service
sudo systemctl start clash

sudo wget https://github.com/Dreamacro/clash-dashboard/archive/refs/heads/gh-pages.zip
sudo gunzip gh-pages.zip
sudo mv gh-pages ui
# 编辑config.yml,添加:
#  external-ui: /opt/clash/ui
sudo systemctl restart clash

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bashrc添加：

alias proxy="export http_proxy=http://127.0.0.1:7890;export https_proxy=http://127.0.0.1:7890;"
alias unproxy="unset http_proxy;unset https_proxy;"

export SOCKS_PROXY="socks5://127.0.0.1:7891"

function enable_socks_proxy() {
    export ALL_PROXY=$SOCKS_PROXY
    echo "SOCKS start"
}

function disable_socks_proxy() {
    unset ALL_PROXY
    echo "SOCKS stop"
}

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clash.service中添加：

[Unit]
Description=clash-core
[Service]
Type=simple
ExecStart=/opt/clash/clash -f /opt/clash/config.yml

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最后将setting->network->proxy IP设置为127.0.0.1，端口查看clash配置，浏览器登陆localhost:9090，或者自己的IP地址:9090。

# 开启终端sock代理 ：
enable_socks_proxy
# 关闭终端sock代理：
disable_socks_proxy
# 开启终端http代理：
proxy
# 关闭终端http代理：
unproxy

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3.3 设置系统代理，让docker脚本也可以使用代理

sudo nano /etc/environment

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添加：注意IP和端口号改为自己的

http_proxy="http://127.0.0.1:7890"
https_proxy="http://127.0.0.1:7890"


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source /etc/environment


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3.4 安装启动v2raya服务

v2raya教程

#安装前将源换回ubuntu官方镜像源，否则无法下载curl

sudo apt install curl
#v2rayA 提供的镜像脚本（推荐）#
curl -Ls https://mirrors.v2raya.org/go.sh | sudo bash
#安装后可以关掉服务，因为 v2rayA 不依赖于该 systemd 服务。
sudo systemctl disable v2ray --now

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#手动启动
systemctl restart v2raya.service
#自启动
systemctl enable --now v2raya.service

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4、换源

4.1、脚本

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/
sudo gedit /etc/apt/sources.list 
sudo apt-get update
sudo apt-get -f install
sudo apt-get upgrade

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4.2、删除sources.list内容，用下面的替换

# Linux20.04：
 
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
 
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

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5、安装ros2

方法一

①确保3.2成功，能访问youtube.com，curl google.com有返回。
②为python3.9安装PyQt5，注意将链接教程的路径替换为自己的路径，python3替换为python3.9，这样才能为python3.9安装PyQt5。arm64 平台PyQt5安装教程
③ros2 humble安装官方指导，中间可能会出现网络问题，多试几次或者切换延迟低的代理能解决。

方法二未成功

英伟达ROS2安装脚本github项目地址
在NVIDIA Jetson 上使用 ROS 2 构建机器人应用程序

切换python

sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.9 3
sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 2
sudo update-alternatives --install /usr/bin/python python /usr/bin/python2.7 1

sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.9 3
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 2
sudo update-alternatives --install /usr/bin/python3 python3 /usr/bin/python2.7 1

sudo update-alternatives --config python
sudo update-alternatives --config python3

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6、自动赋予串口权限

lsusb
# Bus 001 Device 009: ID 1a86:7523 QinHeng Electronics HL-340 USB-Serial adapter 
# 根据ID 1a86:7523修改文件
sudo nano /etc/udev/rules.d/99-usb-serial.rules
SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE="0666", GROUP="dialout"
sudo udevadm control --reload-rules
# 重新插入USB串口设备，udev规则会自动为/dev/ttyUSB*赋予权限。

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7、自动挂载

sudo gedit /etc/fstab
 .host:/ /mnt/hgfs fuse.vmhgfs-fuse allow_other 0 0

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missing: Python3_LIBRARIES Python3_INCLUDE_DIRS Development

根据报错提示的python版本，将python3.x改为提示的版本后执行指令：

sudo apt install python3.x-dev

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错误原因是缺少libpython3.x.so等动态链接库

bug

① Cannot connect to the Docker daemon at unix
先将/etc/docker/daemon.json的最后一行内容删除

sudo gedit /etc/docker/daemon.json

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{
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    },

    "default-runtime": "nvidia"  #删除这一行
}

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sudo systemctl unmask docker
systemctl start docker
systemctl status docker

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② 无法下载OpenCV-4.5.0-aarch64.tar.gz
将

wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${OPENCV_URL} -O ${OPENCV_DEB}

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改为：

wget https://raw.githubusercontent.com/17870119463/opencv4.5/main/OpenCV-4.5.0-aarch64.tar.gz

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③无法下载pytorch
将：

RUN wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${PYTORCH_URL} -O ${PYTORCH_WHL} && \
    pip3 install --no-cache-dir --verbose ${PYTORCH_WHL} && \
    rm ${PYTORCH_WHL}

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改为，设置了代理，IP和端口改为自己的

RUN http_proxy=http://127.0.0.1:7890 \
    https_proxy=http://127.0.0.1:7890 \
    wget --quiet --show-progress --progress=bar:force:noscroll --no-check-certificate ${PYTORCH_URL} -O ${PYTORCH_WHL} && \
    pip3 install --no-cache-dir --verbose ${PYTORCH_WHL} && \
    rm ${PYTORCH_WHL}

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100、常用国内源

阿里

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

# deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

## Pre-released source, not recommended.
# deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse


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中科大

deb https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse

## Pre-released source, not recommended.
# deb https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse


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清华

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

## Pre-released source, not recommended.
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https:mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse


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