Basic

  • Ubuntu 22.04 & 配置源
  • Clash
  • GCC 11(>=C++17): sudo apt install build-essential cmake git vim curl zsh openssh-client openssh-server net-tools
  • oh-my-zsh: sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"
  • zsh-autosuggestions: git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions
  • .zshrc: ZSH_THEME=robbyrussell and plugins=(git zsh-autosuggestions)
  • Chrome & enable Sync
  • VSCode & enable Sync
  • CopyQ
  • Pyenv & Python 3.10: pyenv install 3.10 and pyenv global 3.10.10
  • ccache: export PATH=/usr/lib/ccache:$PATH
  • mold
  • Qt5 using qt-*.run
    • GL/gl.h: No such file or directory: sudo apt-get install mesa-common-dev
    • To obtain diagnostic information from Qt: export QT_DEBUG_PLUGINS=1
    • libxcb-xinerama.so.0: cannot open shared object file: sudo apt install libxcb-xinerama0
    • CMake: -DQt5_DIR=$HOME/Qt/5.15.2/gcc_64/lib/cmake/Qt5 or -DCMAKE_PREFIX_PATH=$HOME/Qt/5.15.2/gcc_64

  • JetBrains Mono

    /bin/bash -c “$(curl -fsSL https://raw.githubusercontent.com/JetBrains/JetBrainsMono/master/install_manual.sh)”

  • Intel One Mono
  • LLVM
# Cite https://apt.llvm.org/
wget https://apt.llvm.org/llvm.sh
chmod +x llvm.sh
sudo ./llvm.sh <version number> all

# Usages (https://stackoverflow.com/questions/7031126/switching-between-gcc-and-clang-llvm-using-cmake)
# export CC=/usr/lib/ccache/clang-16
# export CXX=/usr/lib/ccache/clang++-16

Robotics Tools

  • Eigen(3.4.0): sudo apt install libeigen3-dev
  • Boost(1.74.0): sudo apt install libboost-all-dev
  • EigenPy(devel): cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/mylibs
  • urdfdom: sudo apt install liburdfdom-dev
  • assimp: sudo apt install libassimp-dev
  • octomap: sudo apt install liboctomap-dev
  • hpp-fcl: cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/mylibs -DENABLE_PYTHON_DOXYGEN_AUTODOC=FALSE
  • Pinocchio(pinocchio3-preview): cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$HOME/mylibs -DCMAKE_PREFIX_PATH=$HOME/mylibs -DBUILD_WITH_COLLISION_SUPPORT=ON
  • blasfeo: make shared_library -j && make install_shared
  • LCM(v1.4.0): sudo apt install libglib2.0-dev and cmake .. && make && sudo make install
  • OpenGL Utility Toolkit: sudo apt install freeglut3-dev
  • mujoco: sudo apt install libxrandr-dev libxinerama-dev libxcursor-dev libxi-dev
    • Python Bindings: pip install mujoco
    • FFmpeg: sudo apt install ffmpeg

  • pip setup

    pip config set global.index https://pypi.doubanio.com/simple
pip config set global.index-url https://pypi.doubanio.com/simple
pip config set global.trusted-host pypi.doubanio.com

  • Drake

    pip install drake

# Source Installation
sudo ./setup/ubuntu/install_prereqs.sh
# OR
./setup/mac/install_prereqs.sh

bazel build //...
# OR
bazel build --config=clang //...

# Building the Python Bindings using CMake
cmake ..
make -j
export PYTHONPATH=${PWD}/install/lib/python3.X/site-packages:${PYTHONPATH}

  • JupyterLab (Code Completion -> Continuous hinting: true)

    pip install jupyterlab
pip install jupyterlab-lsp jupyterlab-git jedi-language-server jupyterlab_code_formatter autopep8 isort