# x-itg-notebook **Repository Path**: x-itg/x-itg-notebook ## Basic Information - **Project Name**: x-itg-notebook - **Description**: 我的笔记本 - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 1 - **Forks**: 0 - **Created**: 2024-02-04 - **Last Updated**: 2025-03-15 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # 一、组网代理 这里介绍一种简易的上网外的方法：使用外网ubutu服务器Dante Server+蒲公英 ![1713104855676](./效果.png) ## 1.1本地电脑安装蒲公英 - 客户端windows下载并安装：https://d.oray.com/pgy/windows/PgyVisitor_6.3.0_x64.exe - 客户端windows登录贝锐账号，没有账号先创建账号，免费的可以组网三台设备，如果家里一台电脑，公司一台电脑，服务器一台电脑，这样免费的刚刚好。 - 客户端windows在蒲公英客户端软件中取得服务器蒲公英网络ip如：172.16.0.198 ## 1.2外网服务器安装蒲公英 - 服务器linux命令行下载蒲公英：wget https://pgy.oray.com/softwares/153/download/2156/PgyVisitor_6.2.0_x86_64.deb - 服务器linux命令行安装蒲公英：sudo dpkg -i PgyVisitor_6.2.0_x86_64.deb - 服务器linux命令行登录之前注册的贝锐账号：pgyvisitor login ## 1.3除了蒲公英还可以用zerotier ubuntu下安装启动zerotier方法 ``` curl -s https://install.zerotier.com | sudo bash #安装 172.23.0.1 sudo systemctl enable zerotier-one.service #设置自启动 sudo systemctl start zerotier-one.service#启动 sudo zerotier-cli join 41d49af6c252649d#加入网络 ``` ## 1.3外网服务器安装配置dante-server - sudo apt install dante-server#服务器安装socksv5代理 - sudo nano /etc/danted.conf #修改配置,添加至末尾：内网网卡oray_vnc通过ifconfig查看出来的 外网网卡eth0 ``` internal: oray_vnc port = 1080 external: eth0 method: username none user.privileged: root user.unprivileged: nobody client pass { from: 0.0.0.0/0 to: 0.0.0.0/0 log: error connect disconnect } socks pass { from: 0.0.0.0/0 to: 0.0.0.0/0 log: error connect disconnect } ``` - sudo systemctl start danted #启动danted服务 - sudo systemctl enable danted #开机自运行 ## 1.4客户端windows全局代理上网 - 客户端windows编辑一个.reg后缀的文件,内容如下 ``` Windows Registry Editor Version 5.00 [HKEY_CURRENT_USER\SOFTWARE\Microsoft\Windows\CurrentVersion\Internet Settings] "ProxyServer"="socks://172.16.0.198:1080" ``` - 客户端windows左下角搜索框中搜索“代理”：进入网络和Internet>代理>手动代理点上“开”代理ip填入socks://172.16.0.198 端口填入1080 - 客户端windows双击运行reg文件注册表注入后即可使windows全局用本地socks://172.16.0.198:1080上网，如果服务器放在“外地”的话就可以用“外地”的网络了上网，腾讯，阿里，UCLOUD......都可以。 ## 1.5客户端火狐浏览器代理上网 - 火狐浏览器设置中搜代理进入网络设置下面选手动代理SOCKS主机填入127.0.0.1 SOCKS v5选项 另外“使用SOCKSv5 时代理DNS查询” 这个要勾上。 ## 1.6 ssh代理转发 ``` ssh -N -D 192.168.1.123:1080 ubuntu@172.16.0.198 ``` - 在能上网的电脑运行以上ssh端口转发指令 - 在不能上网的电脑使用 `socks5://192.168.1.123:1080/`代理上网 ## 1.7 ubuntu 全局代理 ``` sudo nano /etc/apt/apt.conf # wsl ubuntu下命令行编辑apt的代理设置文件 在能上网电脑上运行WProxy软件 http代理端口808 socks5代理端口8080 Acquire::http::Proxy "http://192.168.21.108:808"; #添加内容,然后保存.此为演示： sudo nano ~/.bashrc #wsl ubuntu下命令行编辑当前用户环境变量 export http_proxy='http://192.168.21.108:808' #添加至末尾 export https_proxy='http://192.168.21.108:808' #添加至末尾 export ftp_proxy='hhttp://192.168.21.108:808' #添加至末尾 export no_proxy='localhost,127.0.0.1' #添加至末尾 Ctrl+O 保存 Ctrl+X 退出 source ~/.bashrc #使生效 git config --global http.proxy http://192.168.21.108:808 #windows/ubuntu git代理配置，设置代理,此处为案例演示 git config --global http.proxy #查看代理 git config --global --unset http.proxy #删除代理 git config --global --unset https.proxy #删除代理 ``` # 二、ubuntu下编译调试stm32 ## 下载安装stm32cubeclt - https://www.st.com/en/development-tools/stm32cubeclt.html #下载 - sudo bash st-stm32cubeclt_1.15.0_20695_20240315_1429_amd64.sh #安装 ## 下载openocd及其子模块后编译安装 - git clone https://gitee.com/x-itg/openocd.git # 从我的仓库克隆下openocd的源码；参考 https://blog.csdn.net/daoshengtianxia/article/details/115038674 - sudo apt-get install libncurses5 lsb-core build-essential pkg-config autoconf automake libtool libusb-dev libusb-1.0-0-dev libhidapi-dev libtool libsysfs-dev #编译openocd源码需要安装的软件 - sudo ./bootstrap - sudo ./configure --enable-stlink - sudo make - sudo make install #安装在了/usr/local/bin 配置文件在 /usr/local/share/openocd/scripts - sudo cp stm32f1discovery.cfg /usr/local/share/openocd/scripts/board ## VSCODE工程工作目录下makefile文件修改 ``` upload: build/$(PROJECT).bin openocd -f board/stm32f1discovery.cfg -c "reset_config trst_only combined" -c "program build/$(PROJECT).elf verify reset exit" ifeq ($(OS),Windows_NT) debug-start: openocd -f openocd_win.cfg reset: openocd -f openocd_win.cfg -c init -c halt -reset -c shutdown else debug-start: openocd -f openocd_lnx.cfg reset: openocd -f openocd_lnx.cfg -c init -c halt -reset -c shu ``` ## 在VSCODE工程工作目录下添加openocd.cfg文件，内容： ``` source [find /usr/local/share/openocd/scripts/interface/stlink.cfg] source [find /usr/local/share/openocd/scripts/target/stm32f1x.cfg]### ``` ## .vscode 文件夹下面的 launch.json文件修改 ``` .vscode文件夹下launch.json: { // See https://go.microsoft.com/fwlink/?LinkId=733558 // for the documentation about the tasks.json format "version": "0.2.0", "configurations": [ { "name": "wsl-ubuntu1804-stm32f1-openocd", //调试入口显示的名字，随便起 "cwd": "${workspaceRoot}", //工作目录，根路径 "armToolchainPath": "/opt/st/stm32cubeclt/GNU-tools-for-STM32/bin/arm-none-eabi-gcc", "gdbPath": "/opt/st/stm32cubeclt/GNU-tools-for-STM32/bin/arm-none-eabi-gdb", "executable": "${workspaceFolder}/build/EC20103RB.elf", //调试文件 "request": "launch", "type": "cortex-debug", //配置为使用插件调试 "servertype": "openocd", //映射openocd "configFiles": [ "${workspaceRoot}/openocd_lnx.cfg" ], //openocd配置 "postDebugTask": "Reset", //同上，调试结束执行的任务 }, { // For the Cortex-Debug extension "name": "win-ST-Link", "type": "cortex-debug", "servertype": "openocd", "request": "launch", "executable": "${workspaceRoot}/build/EC20103RB.elf", "configFiles": [ "C:/Program Files/OpenOCD/0.10.0-13/scripts/interface/stlink-v2.cfg", "C:/Program Files/OpenOCD/0.10.0-13/scripts/target/stm32f1x_stlink.cfg", ], "cwd": "${workspaceRoot}" } ] } ``` # 三、windows下工程搭建stm32 vscode 自动把STM32编译调试需要的armgcc openocd以及环境变量安装到C:\Program Files (x86)\windowstool的工具： https://github.com/x-itg/x-itg-notebook/releases/download/untagged-0529c8ebfcfb3dda44b4/OpenOCD_ArmGCC_MakeTool.msi # 四、SSH自动登录 ``` --------------ubuntu开启ssh---------------------------- 1. 查看是否安装SSHServer：ps -e|grep ssh 2. 安装SSHServer：sudo apt-get install openssh-server 3. 修改sshd_config: sudo nano /etc/ssh/sshd_config - port 22 - PermitRootLogin prohibit-password - PermitRootLogin yes 4. 启动SSH：/etc/init.d/ssh start 5. 设置开机自启SSH：sudo systemctl enable ssh 生成密钥： ssh-keygen -t rsa ------------------------------ powershell下运行： function ssh-copy-id([string]$userAtMachine, $args){ $publicKey = "$ENV:USERPROFILE" + "/.ssh/id_rsa.pub" if (!(Test-Path "$publicKey")){ Write-Error "ERROR: failed to open ID file '$publicKey': No such file" } else { & cat "$publicKey" | ssh $args $userAtMachine "umask 077; test -d .ssh || mkdir .ssh ; cat >> .ssh/authorized_keys || exit 1" } } ------------------------------- powershell下运行(上传公钥): ssh-copy-id ubuntu@IP地址 ------------------------------- 修改C:\Users\mason\.ssh\config Host 001 HostName 远程IP地址 User ubuntu IdentityFile C:/Users/mason/.ssh/id_rsa ------------------------------- 登录 ssh 001 ``` # 五、远程ubuntu用本地windows的usb 本地windows电脑使用usbipd-win做usbip的服务器 远程ubuntu使用usbip做usbip的客户端 利用ssh将远程ubuntu的3240端口转发到本地主机的3240端口 参考： [云服务器 Linux 系统使用 USB/IP 远程共享 USB 设备-最佳实践-文档中心-腾讯云](https://cloud.tencent.com/document/product/213/43016) [安装usbipd-win](https://github.com/dorssel/usbipd-win) ## 本地USB服务器含有物理USB,： ``` usbipd list （本地windows安装usbipd-win后powershell里运行查看usb） usbipd bind --force -b 2-1（把本地usb分享出去） ssh -Nf -R 3240:localhost:3240 ubuntu@XXX.XXX.XXX.XXX （创建SSH隧道） ``` ## 远程USB客户端物理USB： ``` sudo modprobe usbip-core sudo modprobe usbip-host sudo modprobe usbip-vudc # 服务端非必须 sudo modprobe vhci-hcd #必须attach失败就再试这条 sudo modprobe usbip-host sudo usbip list --remote 127.0.0.1(远程查看端口有没有打通) sudo usbip attach -r 127.0.0.1 -b 2-1 （载入与detach命令对应相反）usbip attach --remote=127.0.0.1 --busid=2-2 sudo lsusb（查看已经对接上的USB）# sudo mknod /dev/ttyUSB0 c 1A86 7523 dmesg | grep tty sudo minicom -s #设置下波特率 就可以收发com数据了 ps aux | grep minicom sudo kill PID ``` # 六、WSL安装 - Add-AppxPackage -Path "D:\\Path\\Ubuntu2204-221101.AppxBundle" - wsl --update # windows 终端下运行 ## bolt. New ## 安装nodejs - sudo apt install nodejs - sudo apt install npm - sudo npm cache clean -f - sudo npm install -g n - sudo n stable - npm config set registry https://registry.npmjs.org/ - sudo npm install -g pnpm ## 下载bolt.new - git clone https://www.github.com/stackblitz/bolt.new.git - git clone https://kkgithub.com/stackblitz-labs/bolt.diy.git #这个可以用自己的API - git config --global url."https://kkgithub.com".insteadOf "https://github.com" ## 安装 - 管理员权限打开powershell - wsl - cd bolt.new - sudo pnpm install - sudo pnpm run dev ## 清华源 - sudo nano /etc/apt/sources.list ``` # 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/ jammy main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse # deb-src http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse # 预发布软件源，不建议启用 # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse # # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse ``` ## wsl 安装应用 - sudo apt update - sudo apt upgrade - sudo apt install gnome-text-editor -y - sudo apt install gimp -y - sudo apt install nautilus -y - sudo apt install vlc -y - sudo apt install x11-apps -y - wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb - sudo apt install --fix-missing ./google-chrome-stable_current_amd64.deb ## wsl ubuntu 安装 wps后提示字体缺失 - git clone https://github.com/jiaxiaochu/font.git && cd font && ./install.sh ## wsl ubuntu 安装中文输入法 安装wps - sudo apt install language-pack-zh-hans - sudo dpkg-reconfigure locales #这一步要选择en_US.UTF-8和zh_CN.UTF-8, 并且zh_CN.UTF-8为默认语言 - sudo apt install fontconfig - 创建/etc/fonts/local.conf ``` /mnt/c/Windows/Fonts ``` - fc-cache -f -v #刷新字体 - wsl --shutdown #命令行关闭wsl ubuntu - sudo apt install fcitx dbus-x11 im-config fcitx-sunpinyin #重新进入wsl ubuntu - 编辑/etc/locale.gen文件 ``` # 找到 # zh_CN.UTF-8 这一行，取消注释 zh_CN.UTF-8 ``` - 编辑~/.profile文件 ``` export GTK_IM_MODULE=fcitx export QT_IM_MODULE=fcitx export XMODIFIERS=@im=fcitx export DefaultIMModule=fcitx fcitx-autostart &>/dev/null ``` - source ~/.profile #刷新 - 下载 https://www.wps.cn/product/wpslinux/wps-office_11.1.0.11719_amd64.deb - sudo dpkg -i wps-office_11.1.0.11719_amd64.deb ## WSL UBUNTU使用WINDOWS的USB口 参考： [连接 USB 设备 | Microsoft Learn](https://learn.microsoft.com/zh-cn/windows/wsl/connect-usb) [安装usbipd-win：](https://github.com/dorssel/usbipd-win) ``` wsl ubuntu: sudo apt install linux-tools-generic hwdata(ubunutu下安装) sudo update-alternatives --install /usr/local/bin/usbip usbip /usr/lib/linux-tools/*-generic/usbip 20 --------------------------------- windows powershell: usbipd wsl list usbipd wsl attach --busid 2-1(powershell下连接usb连到wsl：) usbipd wsl detach --busid 2-1(powershell下连接usb断开wsl：) --------------------------------- wsl ubuntu: lsusb ---------------------------------- 将wsl端口共享到局域网，端口转发： wsl ubuntu ip addr show eth0 windows powershell： netsh interface portproxy add v4tov4 listenport=3390 listenaddress=0.0.0.0 connectport=3390 connectaddress=192.168.92.156 protocol=tcp netsh interface portproxy add v4tov4 listenport=2222 listenaddress=0.0.0.0 connectport=2222 connectaddress=192.168.92.156 netsh interface portproxy add v4tov4 listenport=22 listenaddress=0.0.0.0 connectport=22 connectaddress=192.168.92.156 netsh interface portproxy show all netsh interface portproxy reset #删除所有端口转发 ``` # 七、ROS、Python 把pip的安装源设置为国内的清华源 pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple/ ## 8.1 WSL2 下 ROS 添加ROS官方源添加密钥 [(14条消息) win10 wsl2 + ubuntu20.04 配置 ROS-Noetic_lainegates的博客-CSDN博客_wsl2 rosnoetic](https://blog.csdn.net/LaineGates/article/details/120910628) ``` sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ## 8.2 安装配套工具初始化rosdep开机自动进行ROS环境配置 ``` sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential sudo apt-get install python3-pip sudo pip install rosdepc sudo apt-get install python3-roslaunch sudo apt-get install ros-noetic-roslaunch sudo rosdepc init rosdepc update sudo apt install python3-rosnode #安装节点查看工具rosnode list #查看节点 sudo apt-get install ros-noetic-rqt #rqt_graph sudo apt-get install ros-noetic-rqt-common-plugins #rqt_graph sudo apt-get install ros-noetic-rqt ros-noetic-rqt-common-plugins ros-noetic-turtlesim source /opt/ros/noetic/setup.bash ``` - 安装ros-tutorials程序包 - 软件包查找如 - 软件包定位如 ``` sudo apt-get install ros-noetic-ros-tutorials rospack find roscpp roscd roscpp roscd roscpp/cmake ``` - 创建软件包 快速开始 ``` my_package/ CMakeLists.txt#配置Catkin元包的CMakeLists.txt模板文件 package.xml#提供软件包元信息 mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone https://gitee.com/ros1-learning/beginner_tutorials.git cd ~/catkin_ws/ catkin_make roscore rosrun beginner_tutorials listener rosrun beginner_tutorials talker ``` ## 8.3 创建Catkin工作空间 ``` cd ~/catkin_ws/ catkin_make #构建一个catkin工作区并生效配置文件 source devel/setup.bash cd ~/catkin_ws/src catkin_create_pkg beginner_tutorials std_msgs rospy roscpp #在catkin_ws/src创建软件包 rospack depends1 beginner_tutorials #查看包依赖 roscore #开启核心节点 rosrun turtlesim turtlesim_node #启动小乌龟节点 rosrun turtlesim turtle_teleop_key #开启小乌龟遥控节点 rosrun rqt_graph rqt_graph #打开画图图形 rosmsg show geometry_msgs/Twist #查看消息类型的详细信息 rostopic echo /turtle1/cmd_vel ##### 显示话题内容 rostopic type /turtle1/cmd_vel ##### 查看话题消息类型 rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'##### 发布消息 rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'##### 1Hz频率发送话题消息 rosrun rqt_plot rqt_plot # rqt_plot命令可以在滚动时间图上显示发布到某个话题上的数据。这里我们将使用rqt_plot命令来绘制正被发布到/ rosrun rqt_console rqt_console #连接到了ROS的日志框架 rosrun rqt_logger_level rqt_logger_level #节点运行时改变输出信息的详细级别 rosservice list #服务 rosservice call /clear #调用/call服务 rosparam list #参数服务器 rosparam set /turtlesim/background_r 150 rosparam get /turtlesim/background_r rosservice call /clear rosparam get / #获取参数服务器上所有内容 -------------------------------------------------------------- mkdir msg echo "int64 num" > msg/Num.msg msg package.xml 加入依赖项： message_generation message_runtime msg CMakeLists.txt find_package中加入message_generation # 不要直接复制这一大段，只需将message_generation加在括号闭合前即可 find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation #加入这个 ) #添加编译 add_message_files( FILES Num.msg ) #查看消息是否在ROS中起作用了 rosmsg show beginner_tutorials/Num ------------------------------------------------------------- roscd beginner_tutorials mkdir srv roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv #package.xml中确保开启message创建和message运行依赖 message_generation