apt换源

可以参考：https://blog.csdn.net/sinat_39110395/article/details/123378523

sudo mv /etc/apt/sources.list /etc/apt/sources.list.bak
sudo vim /etc/apt/sources.list
sudo apt update

中科大源：

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

安装ros

参照：http://wiki.ros.org/melodic/Installation/Ubuntu

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 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
sudo apt install -y ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

修改用户组，加入到root用户组

解决wsl访问windows文件系统权限问题，非必要，仅为了方便

sudo vim /etc/passwd

每行格式为：用户名:密码:Uid:Gid:描述:家目录:登录使用shell
我用户名是vell，对应Uid:Gid修改为0:0：

安装GTSAM

https://gtsam.org/get_started/

sudo add-apt-repository ppa:borglab/gtsam-release-4.1
sudo apt update  # not necessary since Bionic
# Install:
sudo apt install libgtsam-dev libgtsam-unstable-dev

安装GeographicLib

wget https://sourceforge.net/projects/geographiclib/files/distrib-C%2B%2B/GeographicLib-2.1.2.tar.gz/download
tar -xvf GeographicLib-2.1.2.tar.gz
cd GeographicLib-2.1.2/
mkdir build && cd build && cmake .. && make -j 8
sudo make install

cmake如果报版本低，直接修改CMakeLists.txt cmake_minimum_required (VERSION 3.10.0)

安装octomap

sudo apt-get install ros-melodic-octomap*

安装Sophus

git clone -b ubt18.04 https://github.com/vell001/Sophus.git
mkdir build && cd build && cmake ..
make -j 8 && sudo make install

wsl挂载虚拟盘

参照：https://zhuanlan.zhihu.com/p/432865918