官方参考文档
https://support.huaweicloud.com/usermanual-A200dk_3000/atlas200dk_02_0024.html

务必保证配置时版本(20.0.0)一致!!!

1.配置开发环境(自己电脑)

若不在自己电脑上进行开发可以略过这个步骤，例如通过vscode进行远程开发，好用！

1.1.利用脚本快速配置

https://gitee.com/ascend/tools/tree/master/faster_install/for_1.7x.0.0

选择20.0版本

2.配置Atlas200DK

2.1.制作SD卡

一定要按照说明用root用户创建文件夹并且用cp拷贝需要的文件进去！！！！
不知道root密码的可以用下面命令重设
sudo passwd root

https://support.huaweicloud.com/usermanual-A200dk_3000/atlas200dk_02_0011.html
1.0.12.alpha版本： https://support.huaweicloud.com/environment-deployment-Atlas200DK1012/atlased_04_0010.html

c++环境准备和依赖安装

https://gitee.com/ascend/samples/tree/master/cplusplus/environment

缺失acl.h

https://bbs.huaweicloud.com/forum/thread-127320-1-1.html

export DDK_PATH=$HOME/Ascend/ascend-toolkit/latest/arm64-linux_gcc7.3.0
重新执行
cmake ../../../src -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ -DCMAKE_SKIP_RPATH=TRUE

可以写入.zshrc
1.0.12版本为：export DDK_PATH=$HOME/Ascend/ascend-toolkit/latest/arm64-linux

2.2.连接开发版

2.2.1.查看USB虚拟网卡

当通过USB线连接到虚拟机上后，执行以下命令可以查看到虚拟网卡。
ifconfig

enp0s20f0u1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500inet6 fe80::129b:4364:6360:ca75  prefixlen 64  scopeid 0x20<link>ether 7a:76:dc:7e:c2:27  txqueuelen 1000  (Ethernet)RX packets 8  bytes 803 (803.0 B)RX errors 0  dropped 0  overruns 0  frame 0TX packets 16  bytes 3148 (3.1 KB)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

其中enp0s20f0u1就是虚拟网卡。

2.2.2.配置虚拟网卡ip

由于通过USB连接时，开发板默认IP为192.168.1.2，所以这里我们只需要配置虚拟网卡ip为192.168.1.x即可。可按照如下命令进行netplan设置。

切换为root用户，并安装VIM。

su root
apt-get install vim

打开netplan的配置文件，按照以下格式进行配置填写。
vim /etc/netplan/01-network-manager-all.yaml

# Let NetworkManager manage all devices on this system
network:version: 2renderer: NetworkManagerethernets:enp0s20f0u1: #配置的网卡名称,使用ifconfig -a查看得到dhcp4: no #dhcp4关闭addresses: [192.168.1.223/8] #设置本机IP及掩码gateway4: 255.255.255.0 #设置网关nameservers:addresses: [114.114.114.114]

注1：要注意缩进，netplan内容和python一样，对缩进有严格要求，如果缩进格式不对，则配置会失败。
注2：这里的配置网卡名称，需要根据自己连接的情况看，不一定是enp0s20f0u1。

配置完成后执行以下命令，使配置生效。
netplan apply

执行以下命令切换回普通用户。
exit

如下图所示，再使用ifconfig查看，此时已经有ip了。

enp0s20f0u1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500inet 192.168.1.223  netmask 255.0.0.0  broadcast 192.255.255.255inet6 fe80::7876:dcff:fe7e:c227  prefixlen 64  scopeid 0x20<link>ether 7a:76:dc:7e:c2:27  txqueuelen 1000  (Ethernet)RX packets 14  bytes 1241 (1.2 KB)RX errors 0  dropped 0  overruns 0  frame 0TX packets 183  bytes 39769 (39.7 KB)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

2.2.3.登录开发板

在普通用户下通过ssh指令，登录开发板（密码为Mind@123）。
ssh HwHiAiUser@192.168.1.2

2.2.4.将动态链接库路径添加到开发板的 ldconfig 文件中

切换到root用户下搜索 libascendcl.so 所在的路径：

su root
find / -name libascendcl.so

路径如下
/home/HwHiAiUser/Ascend/acllib/lib64/libascendcl.so
打开ld.so.conf.d文件

vim /etc/ld.so.conf.d/mind_so.conf

添加路径到此文件中

/usr/lib64
/home/HwHiAiUser/Ascend/acllib/lib64/

添加完成后，执行 ldconfig
执行以下命令，退出开发板。

exit
exit

3.验证配置是否成功

参考如下博文的例子进行验证
https://gitee.com/ascend/samples/tree/master/cplusplus/level2_simple_inference/2_object_detection/YOLOV3_coco_detection_video

4.额外配置可选

4.1.配置远程登录桌面

https://bbs.huaweicloud.com/forum/thread-29830-1-1.html

可能出现的问题

执行sudo systemctl restart xrdp,报错如下

A dependency job for xrdp.service failed. see journalctl -xe for details

执行命令sudo rm /lib/systemd/system/xrdp.service /lib/systemd/system/xrdp-sesman.service
重启设备
执行sudo systemctl status xrdp检查是否运行成功如下

参考:https://c-nergy.be/blog/?p=8316

4.2.通过网线连接开发版

4.2.1.查看网口网卡

当通过网线连接到虚拟机上后，执行以下命令可以查看到网卡。
ifconfig

eno1: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500ether 3c:52:82:e4:93:ef  txqueuelen 1000  (Ethernet)RX packets 0  bytes 0 (0.0 B)RX errors 0  dropped 0  overruns 0  frame 0TX packets 0  bytes 0 (0.0 B)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

其中eno1就是网卡。

4.2.2.配置开发环境端网卡IP

前面配置的USB虚拟网卡的IP为192.168.1.2，不应与改IP冲突，因此设置网线网卡的IP为192.168.2.2
按照如下命令进行netplan设置。

打开netplan的配置文件，按照以下格式进行配置填写。
sudo gedit /etc/netplan/01-network-manager-all.yaml

# Let NetworkManager manage all devices on this system
network:version: 2renderer: NetworkManagerethernets:enp0s20f0u1: #配置的网卡名称,使用ifconfig -a查看得到dhcp4: no #dhcp4关闭addresses: [192.168.1.223/8] #设置本机IP及掩码gateway4: 255.255.255.0 #设置网关nameservers:addresses: [114.114.114.114]eno1: #配置的网卡名称,使用ifconfig -a查看得到dhcp4: no #dhcp4关闭addresses: [192.168.2.223/8] #设置本机IP及掩码gateway4: 255.255.255.0 #设置网关nameservers:addresses: [114.114.114.114]

注1：要注意缩进，netplan内容和python一样，对缩进有严格要求，如果缩进格式不对，则配置会失败。
注2：这里的配置网卡名称，需要根据自己连接的情况看，不一定是eno1。

配置完成后执行以下命令，使配置生效。
sudo netplan apply

如下图所示，再使用ifconfig查看，此时已经有ip了。

eno1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500inet 192.168.2.223  netmask 255.0.0.0  broadcast 192.255.255.255inet6 fe80::3e52:82ff:fee4:93ef  prefixlen 64  scopeid 0x20<link>ether 3c:52:82:e4:93:ef  txqueuelen 1000  (Ethernet)RX packets 9  bytes 1065 (1.0 KB)RX errors 0  dropped 0  overruns 0  frame 0TX packets 54  bytes 7103 (7.1 KB)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

若显示如，重新拔插一下atlas端的网线即可，正常应该亮绿灯

eno1: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500ether 3c:52:82:e4:93:ef  txqueuelen 1000  (Ethernet)RX packets 0  bytes 0 (0.0 B)RX errors 0  dropped 0  overruns 0  frame 0TX packets 0  bytes 0 (0.0 B)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

4.2.3.配置Atals200DK网线网卡IP

还是先通过USB虚拟网卡连接Atlas200DK
ssh HwHiAiUser@192.168.1.2

打开netplan的配置文件，按照以下格式进行配置填写。
sudo vim /etc/netplan/01-netcfg.yaml

network:version: 2
#  renderer: NetworkManagerrenderer: networkdethernets:eth0:#dhcp4: yes dhcp4: noaddresses: [192.168.2.2/24]gateway4: 255.255.255.0usb0:dhcp4: noaddresses: [192.168.1.2/24]gateway4: 192.168.0.1

配置完成后执行以下命令，使配置生效。
sudo netplan apply

如下图所示，再使用ifconfig查看，此时已经有ip了。

eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500inet 192.168.2.2  netmask 255.255.255.0  broadcast 192.168.2.255ether 10:c3:ab:c9:f3:f6  txqueuelen 1000  (Ethernet)RX packets 107  bytes 12330 (12.3 KB)RX errors 0  dropped 22  overruns 0  frame 0TX packets 23  bytes 2514 (2.5 KB)TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0device interrupt 69

4.2.4.登录开发板

拔掉USB，在普通用户下通过ssh指令，登录开发板（密码为Mind@123）。
ssh HwHiAiUser@192.168.2.2
若可以登录则配置成功

以上配置应该会导致网口无法正常联网，若无法联网则注释掉对应netplan里的配置即可

4.3.配置开发环境

https://support.huaweicloud.com/environment-deployment-Atlas200DK1012/atlased_04_0017.html

4.3.1. python 安装

https://support.huaweicloud.com/cann503installguide/install_024.html

4.3.2. 开发包安装

依据
https://support.huaweicloud.com/environment-deployment-Atlas200DK1012/atlased_04_0017.html

5.其他的使用技巧

5.1.更改SD卡分区

https://blog.csdn.net/weixin_41018348/article/details/82592057?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control

5.2.复制文件到开发版

scp $HOME/ascend_ddk/arm/lib/libpresenteragent.so HwHiAiUser@192.168.1.2:/home/HwHiAiUser

5.2.启用sudo

不需要每次都进root但其实本质一样，不过感觉更好区分一点
su root
vim /etc/sudoers
添加一句
HwHiAiUser ALL=(ALL:ALL) ALL

5.3.连接网络

sudo vim /etc/netplan/01-netcfg.yaml
修改为如下

network:version: 2
#  renderer: NetworkManagerrenderer: networkdethernets:eth0:dhcp4: yes#addresses: [192.168.0.2/24] #gateway4: 192.168.0.1#nameservers:#      addresses: [255.255.0.0]usb0:dhcp4: noaddresses: [192.168.1.2/24]gateway4: 192.168.0.1

保存重启Atlas

5.4.更换为清华源

sudo vim /etc/apt/sources.list
修改如下

#deb http://ports.ubuntu.com/ubuntu-ports/ bionic main
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates maindeb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe

一定所有源（main multiverse restricted universe）都打开，否则安装ros会缺少依赖

5.5.安装ROS

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

若出现错误

W: GPG error: http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic Release: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository 'http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu bionic Release' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

不用管

sudo apt-get install -y gnupg2 # 或 gnupg

sudo apt update

sudo apt install ros-melodic-ros-base

Environment setup

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Dependencies for building packages

sudo apt install python-rosdep build-essential

sudo rosdep init

rosdep update

5.6.安装VINS依赖

Ceres-Solver

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

ceres-solver-2.0.0.tar.gz下载链接: https://codeload.github.com/ceres-solver/ceres-solver/tar.gz/refs/tags/2.0.0

tar zxf ceres-solver-2.0.0.tar.gz
cd ceres-solver-2.0.0
mkdir ceres-bin
cd ceres-bin
cmake ..
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

ROS依赖

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport ros-melodic-nav-msgs ros-melodic-visualization-msgs

Sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff  #版本回溯

修改sophus/so2.cpp中对应为

SO2::SO2()
{unit_complex_.real(1.0);unit_complex_.imag(0.0);
}

继续

mkdir build && cd build && cmake .. && sudo make install

5.7.使用FastGit代替Git

关于 FastGit 的使用，本质上与 git 有关。正常的面向 GitHub 的 clone 命令可能如下：
git clone https://github.com/author/repo
对于使用 FastGit 的情况，我们使用如下命令：

git clone https://hub.fastgit.org/author/repo
正如您所见， FastGit 仅仅是 GitHub 的代理，所以我们仅需要替代远程地址。

当然，您也可以直接修改 git 的配置，完全使用 FastGit 替换指向 GitHub 的链接：

git config --global url."https://hub.fastgit.org/".insteadOf "https://github.com/"

撤回操作：
打开home下的.gitconfig文件，把对应替换代码删除

5.8.增加虚拟内存

有时候编译会显示运存不够，因为默认没有分配swap空间

增加2G虚拟内存

sudo dd if=/dev/zero of=/swap bs=1024 count=2048000
sudo mkswap /swap
sudo swapon /swap

free查看，swap不再为0 编译完成后可以swapoff /swap

永久挂载虚拟内存： https://cloud.tencent.com/developer/article/1835500
例：
sudo swapon --show

NAME           TYPE      SIZE USED PRIO
/swapfile      file        2G   2G   -2
/dev/nvme0n1p5 partition 6.8G 3.2G   -3

假设新加挂载位置：/dev/nvme0n1p5
sudo echo '/dev/nvme0n1p5 none swap sw 0 0' | sudo tee -a /etc/fstab

5.9.安装zsh

安装ohmyzsh

sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"

在.zshrc文末添加

echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

安装zsh-autosuggestions
git clone https://github.com/zsh-users/zsh-autosuggestions.git $ZSH_CUSTOM/plugins/zsh-autosuggestions
3.编辑~/.zshrc文件
找到plugins=(git)这一行，然后再添加autosuggestions，最后为：
plugins=(git zsh-autosuggestions)

zsh配置文件
链接: https://pan.baidu.com/s/1KYgbyVsWlyO_xwxPQWf85w?pwd=skyx 提取码: skyx 复制这段内容后打开百度网盘手机App，操作更方便哦

# If you come from bash you might have to change your $PATH.
# export PATH=$HOME/bin:/usr/local/bin:$PATH# Path to your oh-my-zsh installation.
export ZSH="/home/flood/.oh-my-zsh"# Set name of the theme to load --- if set to "random", it will
# load a random theme each time oh-my-zsh is loaded, in which case,
# to know which specific one was loaded, run: echo $RANDOM_THEME
# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
ZSH_THEME="agnoster"# Set list of themes to pick from when loading at random
# Setting this variable when ZSH_THEME=random will cause zsh to load
# a theme from this variable instead of looking in $ZSH/themes/
# If set to an empty array, this variable will have no effect.
# ZSH_THEME_RANDOM_CANDIDATES=( "robbyrussell" "agnoster" )# Uncomment the following line to use case-sensitive completion.
# CASE_SENSITIVE="true"# Uncomment the following line to use hyphen-insensitive completion.
# Case-sensitive completion must be off. _ and - will be interchangeable.
# HYPHEN_INSENSITIVE="true"# Uncomment the following line to disable bi-weekly auto-update checks.
# DISABLE_AUTO_UPDATE="true"# Uncomment the following line to automatically update without prompting.
# DISABLE_UPDATE_PROMPT="true"# Uncomment the following line to change how often to auto-update (in days).
# export UPDATE_ZSH_DAYS=13# Uncomment the following line if pasting URLs and other text is messed up.
# DISABLE_MAGIC_FUNCTIONS="true"# Uncomment the following line to disable colors in ls.
# DISABLE_LS_COLORS="true"# Uncomment the following line to disable auto-setting terminal title.
# DISABLE_AUTO_TITLE="true"# Uncomment the following line to enable command auto-correction.
# ENABLE_CORRECTION="true"# Uncomment the following line to display red dots whilst waiting for completion.
# Caution: this setting can cause issues with multiline prompts (zsh 5.7.1 and newer seem to work)
# See https://github.com/ohmyzsh/ohmyzsh/issues/5765
# COMPLETION_WAITING_DOTS="true"# Uncomment the following line if you want to disable marking untracked files
# under VCS as dirty. This makes repository status check for large repositories
# much, much faster.
# DISABLE_UNTRACKED_FILES_DIRTY="true"# Uncomment the following line if you want to change the command execution time
# stamp shown in the history command output.
# You can set one of the optional three formats:
# "mm/dd/yyyy"|"dd.mm.yyyy"|"yyyy-mm-dd"
# or set a custom format using the strftime function format specifications,
# see 'man strftime' for details.
# HIST_STAMPS="mm/dd/yyyy"# Would you like to use another custom folder than $ZSH/custom?
# ZSH_CUSTOM=/path/to/new-custom-folder# Which plugins would you like to load?
# Standard plugins can be found in $ZSH/plugins/
# Custom plugins may be added to $ZSH_CUSTOM/plugins/
# Example format: plugins=(rails git textmate ruby lighthouse)
# Add wisely, as too many plugins slow down shell startup.
plugins=(git zsh-autosuggestions)source $ZSH/oh-my-zsh.sh# User configuration# export MANPATH="/usr/local/man:$MANPATH"# You may need to manually set your language environment
# export LANG=en_US.UTF-8# Preferred editor for local and remote sessions
# if [[ -n $SSH_CONNECTION ]]; then
#   export EDITOR='vim'
# else
#   export EDITOR='mvim'
# fi# Compilation flags
# export ARCHFLAGS="-arch x86_64"# Set personal aliases, overriding those provided by oh-my-zsh libs,
# plugins, and themes. Aliases can be placed here, though oh-my-zsh
# users are encouraged to define aliases within the ZSH_CUSTOM folder.
# For a full list of active aliases, run `alias`.
#
# Example aliases
# alias zshconfig="mate ~/.zshrc"
# alias ohmyzsh="mate ~/.oh-my-zsh"# fix: zsh unable to recognise *
setopt no_nomatch#vpn
export http_proxy=http://127.0.0.1:8889
export https_proxy=http://127.0.0.1:8889alias sss="source ./devel/setup.zsh"source /opt/ros/melodic/setup.zsh#PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
#export PKG_CONFIG_PATH# CUDA Version
export PATH=/usr/local/cuda-11.4/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATHexport LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/flood/Softwares/TensorRT-8.2.3.0/lib#conda activate open-mmlab# >>> conda initialize >>>
# !! Contents within this block are managed by 'conda init' !!
__conda_setup="$('/home/flood/anaconda3/bin/conda' 'shell.zsh' 'hook' 2> /dev/null)"
if [ $? -eq 0 ]; theneval "$__conda_setup"
elseif [ -f "/home/flood/anaconda3/etc/profile.d/conda.sh" ]; then. "/home/flood/anaconda3/etc/profile.d/conda.sh"elseexport PATH="/home/flood/anaconda3/bin:$PATH"fi
fi
unset __conda_setup
# <<< conda initialize <<<

terminator美化配置
sudo apt install powerline
链接: https://pan.baidu.com/s/16O5Djtc7Pu0rS0elA60H2w?pwd=gs66 提取码: gs66 复制这段内容后打开百度网盘手机App，操作更方便哦

[global_config]suppress_multiple_term_dialog = True
[keybindings]
[profiles][[default]]background_color = "#002b36"background_darkness = 0.91background_type = transparentcursor_color = "#e0f0f1"font = Noto Mono for Powerline 11foreground_color = "#eeeeec"show_titlebar = Falsepalette = "#2e3436:#cc241d:#98971a:#729fcf:#3465a4:#b16286:#689d6a:#eeeeec:#888a85:#fb4934:#b8bb26:#204a87:#83a598:#d3869b:#8ec07c:#ebdbb2"
[layouts][[default]][[[child1]]]parent = window0type = Terminal[[[window0]]]parent = ""type = Window
[plugins]

5.10.终端代理

https://zhuanlan.zhihu.com/p/46973701

5.11. libroscpp.so: cannot open shared object file: No such file or directory

因为在bashrc/zshrc里添加的
export LD_LIBRARY_PATH=${install_path}/atc/lib64
没有将历史LD_LIBRARY_PATH涵盖
改为
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${install_path}/atc/lib64

5.11. NPU 管理（CPU管理）

https://support.huawei.com/enterprise/zh/doc/EDOC1100206826/dd03bec6

Atlas200 默认分配4核给npu，导致程序运行时最多只能使用4核，可以根据需求进行调整：https://support.huawei.com/enterprise/zh/doc/EDOC1100206826/4217ac46

sudo npu-smi set -t aicpu-config -i 0 -c 0 -d 2

最少需要分配2个核心给npu，否则失败

5.12.Ubuntu 终端下Nethogs 命令查看网络带宽

sudo apt-get install nethogs

使用：sudo nethogs enp0s20f0u2

5.13. Backward-cpp

https://zhuanlan.zhihu.com/p/397148839
sudo apt-get install libdw-dev
wget https://raw.githubusercontent.com/bombela/backward-cpp/master/backward.hpp sudo mv backward.hpp /usr/include

target_link_libraries(dw_testdw)

#define BACKWARD_HAS_DW 1
#include "backward.hpp"
namespace backward{backward::SignalHandling sh;
}

5.14. sudo apt update 时间报错

(invalid for another 1609d 7h 32min 23s). Updates for this repository will not be applied.

临时更新一下时间就好
sudo date -s 2022/5/26
时间不能超过当前时间，可以设置为前一个月的时间

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华为Atlas200DK环境配置指南(版本20.0.0)

1.配置开发环境(自己电脑)

1.1.利用脚本快速配置

2.配置Atlas200DK

2.1.制作SD卡

c++环境准备和依赖安装

缺失acl.h

2.2.连接开发版

2.2.1.查看USB虚拟网卡

2.2.2.配置虚拟网卡ip

2.2.3.登录开发板

2.2.4.将动态链接库路径添加到开发板的 ldconfig 文件中

3.验证配置是否成功

4.额外配置可选

4.1.配置远程登录桌面

可能出现的问题

4.2.通过网线连接开发版

4.2.1.查看网口网卡

4.2.2.配置开发环境端网卡IP

4.2.3.配置Atals200DK网线网卡IP

4.2.4.登录开发板

4.3.配置开发环境

4.3.1. python 安装

4.3.2. 开发包安装

5.其他的使用技巧

5.1.更改SD卡分区

5.2.复制文件到开发版

5.2.启用sudo

5.3.连接网络

5.4.更换为清华源

5.5.安装ROS

5.6.安装VINS依赖

5.7.使用FastGit代替Git

5.8.增加虚拟内存

5.9.安装zsh

5.10.终端代理

5.11. libroscpp.so: cannot open shared object file: No such file or directory

5.11. NPU 管理 （CPU管理）

5.12.Ubuntu 终端下Nethogs 命令查看网络带宽

5.13. Backward-cpp

5.14. sudo apt update 时间报错

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5.11. NPU 管理（CPU管理）