ubuntu文件系统

1. 安装qemu模拟器

sudo apt install qemu-user-static
//sudo apt install qemu-user-binfmt

2. 安装debootstrap

sudo apt install debootstrap

3. 显示当前环境下执行文件系统架构支持情况

update-binfmts --display
sudo update-binfmts --enable qemu-aarch64

4. 获得一个基本的Ubuntu裸文件系统

sudo mkdir ~/ubuntu-rootfs

对于ubuntu20.04系统

sudo qemu-debootstrap --arch arm64 jammy ~/ubuntu-rootfs/ --variant=minbase --verbose

对于ubuntu22.04/20.04/18.04系统

sudo debootstrap --arch arm64 --variant=minbase jammy ~/ubuntu-rootfs/
sudo cp /usr/bin/qemu-aarch64-static ~/ubuntu-rootfs/usr/bin/

5. 修改apt软件源

sudo cp -b /etc/resolv.conf ~/ubuntu-rootfs/etc/resolv.conf
sudo vim ~/ubuntu-rootfs/etc/apt/sources.list

deb http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy main universe restricted
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy main universe restricted
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
deb http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb-src http://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse

6. 挂载proc, sys, dev, dev/pts等文件系统

vim ch-mount.sh
sudo bash ch-mount.sh -m ~/ubuntu-rootfs/

#!/bin/bash

function help() {
    echo ""
    echo "usage: ch-mount.sh [-m <path>] [-u <path>] <command> [<args>]"
    echo ""
    echo "For example: bash ch-mount.sh -m /media/sdcard/"
    echo ""
}

while getopts "m:u:" arg
do
    case $arg in
        m)
            echo "I:MOUNTING"
            sudo mount -t proc /proc ${2}proc
            sudo mount -t sysfs /sys ${2}sys
            sudo mount -o bind /dev ${2}dev
            sudo mount -o bind /dev/pts ${2}dev/pts        
            sudo chroot ${2}
            ;;
        u)
            echo "I:UNMOUNTING"
            sudo umount ${2}proc
            sudo umount ${2}sys
            sudo umount ${2}dev/pts
            sudo umount ${2}dev
            ;;
        ?)
            echo "E:Unknow parameter"
            help
            exit 1
    esac
done

7. 安装所需软件包

apt update
apt upgrade
apt install language-pack-en-base sudo ssh net-tools ethtool wireless-tools ifupdown network-manager iputils-ping rsyslog bash-completion htop vim resolvconf cpufrequtils

8. 添加用户

adduser aqronos
//useradd -m aqronos -g sudo -s /bin/bash -d /home/aqronos

修改/etc/sudoers,在root行下加上这句,创建的用户就可以用sudo获得root权限
aqronos ALL=(ALL:ALL) ALL

9. 设置主机名称 设置本机入口ip

echo "ubuntu-aarch64-zynqmp">/etc/hostname
echo "127.0.0.1 localhost">>/etc/hosts
echo "127.0.1.1 ubuntu-aarch64-zynqmp">>/etc/hosts
dpkg-reconfigure resolvconf
dpkg-reconfigure tzdata

10. 配置串口

如果没有/etc/init/ttyPS0.conf，则自行创建。文件夹没有的也需要自行创建

start on stoppedrc or RUNLEVEL=[12345]
stop on runlevel[!12345]
respawn
exec /sbin/getty -L 115200 ttyPS0 vt102

11. 根文件系统挂载,修改/etc/fstab

# <file system>   <dir>         <type>    <options>                               <dump>          <pass>
/dev/mmcblk1p2    /             ext4      defaults,noatime,errors=remount-ro      0                 1
/dev/mmcblk1p1    /boot/uboot   vfat      defaults,noatime                        0                 0

12. 网络设置 /etc/network/interfaces

# 本地回环
auto lo 
iface lo inet loopback 
# 两种方法任选一个
# 获取动态配置： 
#auto eth0 
allow-hotplug eth0
iface eth0 inet dhcp 
# 获取静态配置： 
# auto eth0 
# iface eth0 inet static 
# address 192.168.0.1 
# netmask 255.255.255.0 
# gateway 192.168.0.1 

13.ros2 humble安装

• 设置编码
  sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

• 添加源
  sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

• 安装ROS2
  sudo apt update
sudo apt upgrade
sudo apt install ros-humble-ros-base
sudo apt install ros-humble-pcl-*

• 设置环境变量
  source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc

• 验证测试
  ros2 topic pub --rate 1 /test std_msgs/msg/String 'data: "hello"'
ros2 topic echo /test
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

14. 制作SD卡启动系统

$(petalinu-project)/images/linux下的BOOT.BIN，boot.scr和image.ub拷贝到SD卡的FAT分区，然后把制作好的roofs拷贝到SD卡的ext4分区

可能的错误sudo

chown root:root /usr/bin/sudo && chmod 4755 /usr/bin/sudo

-A start job is running for Raise network interface（5min 13s ）问题解决方法

网友方法：/etc/systemd/system/network-online.target.wants/networking.service 将里面的TimeoutStartSec=5min 修改为TimeoutStartSec=2sec
我的方法： /etc/network/interfaces 修改如下：

auto lo
iface lo inet loopback
#auto eth0    #屏蔽项
allow-hotplug eth0 #添加项
iface eth0 inet dhcp