2026 Apr 17

工作笔记

设置相机的自定义绑定

输入udevadm info -a /dev/video0可以查看video的属性。

根据属性可以设置不同的匹配规则，我设置的匹配规则如下：

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sudo vim /etc/udev/rules.d/99-persistent-camera.rules
# 绑定 USB CAMERA2 到 right_camera
KERNEL=="video[0,2,4,6,8]*", ATTRS{name}=="USB  CAMERA2: USB  CAMERA2", SYMLINK+="right_camera"

# 绑定 USB CAMERA3 到 left_camera  
KERNEL=="video[0,2,4,6,8]*", ATTRS{name}=="USB  CAMERA3: USB  CAMERA3", SYMLINK+="left_camera"

# 输入下面命重新配置，插拔usb
sudo udevadm trigger
sudo /etc/init.d/udev restart
# 输入下面查看是否绑定成功
ll /dev/*camera

查看内核cpu的频率等情况

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# 频率策略
cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor
# 当前频率
cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_cur_freq
# 最大频率
cat /sys/devices/system/cpu/cpu*/cpufreq/cpuinfo_max_freq

生成密钥上传到远端服务器

先在本机生成密钥，再上传到远端服务器

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ssh-keygen -t rsa -b 4096 -C "your_email@example.com
ssh-copy-id -i ~/.ssh/id_rsa.pub username@remote_server_ip

也可以手动创建粘贴生成的密钥，登录到服务器控制

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mkdir -p ~/.ssh
chmod 700 ~/.ssh
touch ~/.ssh/authorized_keys
chmod 600 ~/.ssh/authorized_keys
echo "你刚才复制的整个公钥内容" >> ~/.ssh/authorized_keys

配置开机自启动wifi热点

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# 用图形界面或其他方式创建过热点，先列出所有连接找到它的名字
nmcli connection show
# 设置热点开机自启动
sudo nmcli connection modify Hotspot connection.autoconnect yes

配置开机自设置高性能模式

编辑自定义service

sudo vim /etc/systemd/system/cpu-performance.service

粘贴下面内容：

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[Unit]
Description=Set CPU to performance governor
# 关键修改：在所有电源管理服务之后运行
After=sysinit.target
After=systemd-udevd.service
After=multi-user.target
# 确保在这些服务之后运行
After=cpufrequtils.service
After=ondemand.service
After=power-profiles-daemon.service
Wants=systemd-udevd.service

[Service]
Type=oneshot
# 增加更长的等待时间
ExecStartPre=/bin/sleep 8
# 使用循环确保设置成功
ExecStart=/bin/bash -c 'for i in {1..3}; do for cpu in /sys/devices/system/cpu/cpu*/cpufreq/scaling_governor; do echo performance > "$cpu" 2>/dev/null; done; sleep 1; done'
RemainAfterExit=yes
User=root
PermissionsStartOnly=yes

[Install]
WantedBy=multi-user.target

重新加载启动：

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# 重新加载 systemd
sudo systemctl daemon-reload
# 启用开机自启动
sudo systemctl enable cpu-performance.service
# 立即启动
sudo systemctl start cpu-performance.service
# 检查状态
sudo systemctl status cpu-performance.service
# 查看日志
sudo journalctl -u cpu-performance.service -f

*很多时候不生效的原因是后续的开机自启动service又给重置回去了 。

源码编译安装LASlib库步骤

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cd ../../LASlib # 切换到 LASlib 根目录
mkdir build
cd build
# 同样使用 CMake 配置
cmake -DCMAKE_BUILD_TYPE=Release ..
# 编译
make -j$(nproc)
# 安装
sudo make install
# 刷新动态链接库的缓存
sudo ldconfig

鲁班猫设置wifi自启动有时不生效

1、设置wifi默认启动方式：nmcli connection modify <connection_name> connection.autoconnect yes

2、可以创建netplan配置（官方给出）

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sudo vim /etc/netplan/01-wifi-ap.yaml
# 填入以下内容
network:
  version: 2
network:
  version: 2
  renderer: NetworkManager
  wifis:
    wlan0:
      dhcp4: no
      addresses: [10.42.0.1/24]
      access-points:
        "NEWGIS":
          password: "soyasoya"
          mode: ap
#应用配置
sudo netplan generate
sudo netplan apply
#有时还是不生效（哭）

3、创建热点自动启动服务（用这个方法最稳）：

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# 创建自定义服务
systemctl daemon-reload
sudo vim /etc/systemd/system/hotspot-autostart.service

写入service文件：

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[Unit]
Description=Start Robot Wi-Fi Hotspot
# 等待网络管理服务启动完成
After=network.target NetworkManager.service
# 明确声明需要NetworkManager服务
Requires=NetworkManager.service
# 可选：等待一段时间，确保Wi-Fi设备就绪
Wants=network-online.target
After=network-online.target

[Service]
Type=oneshot
ExecStart=/usr/bin/nmcli dev wifi hotspot con-name SOYONE password soyasoya ifname wlan0
ExecStop=/usr/bin/nmcli con down id SOYONE
RemainAfterExit=yes
# 添加执行前的延迟（可选，单位秒）
ExecStartPre=/bin/sleep 5
 
[Install]
WantedBy=multi-user.target

使用sudo systemctl enable hotspot-autostart.service启动服务

实在不行用这个下面的脚本：鲁班猫配置ap模式脚本

设置系统时间

sudo timedatectl set-time "2025-10-13 17:30:00"

Ubuntu14.04版本Docker配置和更换源

安装docker：

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# 更新系统
sudo apt update

# 安装依赖
sudo apt install apt-transport-https ca-certificates curl gnupg lsb-release

# 添加 Docker 官方 GPG 密钥
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg

# 添加 Docker 仓库
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

# 安装 Docker
sudo apt update
sudo apt install docker-ce docker-ce-cli containerd.io

# 启动 Docker 服务
sudo systemctl enable docker
sudo systemctl start docker

# 将当前用户添加到 docker 组（避免每次使用 sudo）
sudo usermod -aG docker $USER
# 重新登录或执行以下命令生效
newgrp docker

更换docker源：

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# 创建 Docker 配置目录
sudo mkdir -p /etc/docker

# 配置国内镜像加速器
sudo tee /etc/docker/daemon.json <<EOF
{
  "registry-mirrors": [
    "https://docker.xuanyuan.me",
	"https://docker.1ms.run",
	"https://docker.1panel.live",
	"https://hub.rat.dev",
	"https://doublezonline.cloud",
	"https://docker.mrxn.net",
	"https://docker.anyhub.us.kg",
	"https://dislabaiot.xyz",
	"https://docker.fxxk.dedyn.io",
	"https://docker-mirror.aigc2d.com"
  ]
}
EOF

sudo tee /etc/docker/daemon.json <<EOF
{
  "registry-mirrors": [
	"https://docker.1ms.run"
  ]
}
EOF

# 重启 Docker 服务
sudo systemctl daemon-reload
sudo systemctl restart docker

# 检查配置是否生效
sudo systemctl status docker

# 检查 Docker 配置
docker info | grep -A 10 "Registry Mirrors"

# 重新尝试运行 hello-world
docker run hello-world

安装运行14.04

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# 拉取 Ubuntu 14.04 镜像
docker pull ubuntu:14.04

# 验证镜像
docker images

# 运行容器并进入交互模式、分离模式（在后台运行）
docker run -itd --privileged \
  -p 10008:10008 \
  --name ubuntu14-container \
  -v $(pwd):/workspace \
  ubuntu:14.04 /bin/bash
  
# 查看正在运行的镜像
docker ps -s
# 进入docker容器
docker exec -it <容器ID> /bin/bash

用这个源可以安装

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sudo tee /etc/apt/sources.list <<EOF
deb http://mirrors.aliyun.com/ubuntu/ trusty main restricted
deb http://mirrors.aliyun.com/ubuntu/ trusty-updates main restricted
deb http://mirrors.aliyun.com/ubuntu/ trusty universe
deb http://mirrors.aliyun.com/ubuntu/ trusty-updates universe
deb http://mirrors.aliyun.com/ubuntu/ trusty multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-updates multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ trusty-security main restricted
deb http://mirrors.aliyun.com/ubuntu/ trusty-security universe
deb http://mirrors.aliyun.com/ubuntu/ trusty-security multiverse
EOF
#更新源
sudo apt-get update

sudo tee /etc/apt/sources.list <<EOF
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
EOF
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wget -O boost_1_58_0.tar.bz2 http://sourceforge.net/projects/boost/files/boost/1.58.0/boost_1_58_0.tar.bz2/download

#解压缩
tar --bzip2 -xvf boost_1_58_0.tar.bz2 

#边缘安装
./bootstrap.sh --with-libraries=all --with-toolset=gcc 
./b2 install \
    --prefix=./stage \
    --includedir=./stage/include \
    --libdir=./stage/lib \
    variant=release \
    link=shared,static \
    threading=multi \
    address-model=64

docker配置和读取常用命令

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# 1. 查看原主机的容器
docker ps -a

# 2. 提交修改的容器为新镜像
docker commit <容器ID或名称> my-custom-ubuntu:14.04

# 示例
docker commit my-old-container my-custom-ubuntu:14.04

# 3. 查看新镜像
docker images

# 4. 保存新镜像并传输
docker save -o my-custom-ubuntu.tar my-custom-ubuntu:14.04

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# 如果容器已停止，先启动
docker start ubuntu14-container

# 然后进入容器
docker exec -it ubuntu14-container /bin/bash

查看service启动的日志

这是最常用、最直接的命令。将 your-service-name 替换为你的实际服务名（例如 nginx, docker）。

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sudo journalctl -u soy_nav_server -f

cartographer建图导航启动指令

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source install/setup.bash
ros2 launch fishbot_description gazebo.launch.py

source install/setup.bash
ros2 launch fishbot_cartographer cartographer.launch.py

source install/setup.bash
ros2 launch fishbot_navigation2 navigation2.launch.py use_sim_time:=True
#保存地图
ros2 run nav2_map_server map_saver_cli -t map -f fishbot_map

# 强制释放现有租约
sudo dhclient -r ens33
# 重新获取IP
sudo dhclient -v ens33
# 检查是否获取到IP
ip addr show ens33

#启动ssh
sudo /etc/init.d/ssh start
#启动rosbridge
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

#编译
colcon build

配置共享文件夹

sudo apt install samba

mkdir share 在目录下创建文件夹

chmod 777 share/ 赋予权限

修改配置sudo vim /etc/samba/smb.conf，在最底下添加以下内容，path根据实际文件夹路径修改

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[share]

  path = /home/firefly/share

  writeable = yes

  guest ok = yes

systemctl restart smbd.service

遇到客户端需要输入用户凭证的场合可以添加smb用户，用户必须是系统已存在的用户，密码必须跟用户的系统登陆密码不同。

sudo smbpasswd -a firefly

​ ==本文档遵守WTFPL协议==