关闭SECURE BOOT

1.1.分区

1. EFI 分区 512M
2. SWAP 分区 内存大小两81倍
3. 主分区 剩下的

系统安装时间 约 2min，安装前务必断网

2.环境配置(ubuntu20.04)

# 换源(清华源)
sudo sed -i "s@<http://.*archive.ubuntu.com@https>://mirrors.tuna.tsinghua.edu.cn@g" /etc/apt/sources.list
sudo sed -i "s@<http://.*security.ubuntu.com@https>://mirrors.tuna.tsinghua.edu.cn@g" /etc/apt/sources.list

# 换源(中科大)
sudo sed -i 's@//.*archive.ubuntu.com@//mirrors.ustc.edu.cn@g' /etc/apt/sources.list

sudo apt update
# 安装必要的工具
sudo apt install -y net-tools openssh-server git vim curl terminator htop

# 安装ROS
sudo sh -c 'echo "deb <http://packages.ros.org/ros/ubuntu> $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s <https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc> | sudo apt-key add -
sudo apt update $apt_proxy
sudo apt install -y ros-noetic-desktop-full $apt_proxy
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 安装Realsense 驱动
# <https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md>
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
sudo add-apt-repository "deb <https://librealsense.intel.com/Debian/apt-repo> $(lsb_release -cs) main" -u
sudo apt-get install -y librealsense2-dkms librealsense2-utils librealsense2-dev
librealsense2-dbg $apt_proxy

# ROS package 安装
sudo apt install -y ros-noetic-ddynamic-reconfigure ros-noetic-mavros ros-noetic-realsense2-camera $apt_proxy

cd /opt/ros/noetic/lib/mavros/
sudo vim ./install_geographiclib_datasets.sh
# 在第四行 添加
export http_proxy=http://127.0.0.1:7890
export https_proxy=http://127.0.0.1:7890
export HTTP_PROXY=http://127.0.0.1:7890
export HTTPS_PROXY=http://127.0.0.1:7890
########
# save&quit

sudo ./install_geographiclib_datasets.sh

# 安装 ceres
sudo apt-get install -y libgoogle-glog-dev libgflags-dev
sudo apt-get install -y libatlas-base-dev
sudo apt-get install -y libeigen3-dev
sudo apt-get install -y libsuitesparse-dev
cd ~ && mkdir -p lib && cd lib
curl <http://ceres-solver.org/ceres-solver-2.1.0.tar.gz> -o cere-2.1.tar.gz
tar zxf cere-2.1.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.1.0
make -j3
sudo make install

Compile ego_planner

mkdir -p ~/fast_ws/src && cd ~/fast_ws/src
git clone <https://github.com/ZJU-FAST-Lab/Fast-Drone-250.git>
cd ..

Install USB WiFi driver.

COMFAST CF-811AC

# 安装 dkms
sudo apt-get install dkms

git clone <https://github.com/brektrou/rtl8821CU.git>
cd rtl8821CU
sudo ./dkms-install.sh

Q&A

Why can't I see my wired Ethernet connection after installing Ubuntu 20.04?

Use the "uname -r" command to check your kernel version. Version 5.15 should work. You can use "sudo apt upgrade" to upgrade your kernel version.

对于NVIDIA NX

有可能无法按官方方法 编译，但其实只需要

cmake ..
make
sudo make install

一条龙就可以了，不需要管其他的。草教程写那么多干嘛

双系统时间问题

对于ubuntu版本大于 16.04的版本，直接执行下面这行即可。windows可能需要重新同步一次时间。

timedatectl set-local-rtc 1 --[adjust-system-clock](<https://www.zhihu.com/search?q=adjust-system-clock&search_source=Entity&hybrid_search_source=Entity&hybrid_search_extra=%7B%22sourceType%22%3A%22answer%22%2C%22sourceId%22%3A157272414%7D>)