update

2024/08/ros2_dev_environment.md

@@ -0,0 +1,69 @@
+
+环境
+
+1. 一种docker 拉一个 ubuntu:24.04的image创建容器, 在这个环境中按照 [https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html](https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html)， 安装 Debian的包
+2. 直接拉取 ros:rolling 的 image 创建容器， 这里面环境都配好
+
+基于ubuntu22.04 从源码编译Ros2 失败。
+
+```sh
+root@430981f8a34f:~/ros2_rolling# ros2
+Traceback (most recent call last):
+  File "/root/ros2_rolling/install/ros2cli/bin/ros2", line 33, in <module>
+    sys.exit(load_entry_point('ros2cli', 'console_scripts', 'ros2')())
+  File "/root/ros2_rolling/install/ros2cli/bin/ros2", line 25, in importlib_load_entry_point
+    return next(matches).load()
+  File "/usr/lib/python3.10/importlib/metadata/__init__.py", line 171, in load
+    module = import_module(match.group('module'))
+  File "/usr/lib/python3.10/importlib/__init__.py", line 126, in import_module
+    return _bootstrap._gcd_import(name[level:], package, level)
+  File "<frozen importlib._bootstrap>", line 1050, in _gcd_import
+  File "<frozen importlib._bootstrap>", line 1027, in _find_and_load
+  File "<frozen importlib._bootstrap>", line 1006, in _find_and_load_unlocked
+  File "<frozen importlib._bootstrap>", line 688, in _load_unlocked
+  File "<frozen importlib._bootstrap_external>", line 883, in exec_module
+  File "<frozen importlib._bootstrap>", line 241, in _call_with_frames_removed
+  File "/root/ros2_rolling/build/ros2cli/ros2cli/cli.py", line 22, in <module>
+    from rclpy.executors import ExternalShutdownException
+  File "/root/ros2_rolling/install/rclpy/lib/python3.10/site-packages/rclpy/executors.py", line 50, in <module>
+    from rclpy.subscription import Subscription
+  File "/root/ros2_rolling/install/rclpy/lib/python3.10/site-packages/rclpy/subscription.py", line 23, in <module>
+    from rclpy.event_handler import SubscriptionEventCallbacks
+  File "/root/ros2_rolling/install/rclpy/lib/python3.10/site-packages/rclpy/event_handler.py", line 25, in <module>
+    from rclpy.logging import get_logger
+  File "/root/ros2_rolling/install/rclpy/lib/python3.10/site-packages/rclpy/logging.py", line 21, in <module>
+    from rclpy.impl.rcutils_logger import RcutilsLogger
+  File "/root/ros2_rolling/install/rclpy/lib/python3.10/site-packages/rclpy/impl/rcutils_logger.py", line 41, in <module>
+    from typing_extensions import Unpack
+ImportError: cannot import name 'Unpack' from 'typing_extensions' (/usr/lib/python3/dist-packages/typing_extensions.py)
+
+```
+
+ubuntu24.04的源，公司代理访问不了，换成ubuntu22.04的ok  
+
+ros提供的rolling,jazzy image有问题都需要执行
+
+First ensure that the [Ubuntu Universe repository](https://help.ubuntu.com/community/Repositories/Ubuntu) is enabled.
+
+```sh
+apt install software-properties-common
+add-apt-repository universe
+```
+
+但是走代理有时候还是访问不了 ros的 repository(改错了，根本没走代理，加了sudo导致环境变量变了)
+
+```sh
+E: Failed to fetch http://packages.ros.org/ros2/ubuntu/pool/main/r/ros-rolling-turtlesim/ros-rolling-turtlesim_1.9.1-1noble.20240713.222752_amd64.deb  Could not connect to packages.ros.org:80 (64.50.233.100), connection timed out Could not connect to packages.ros.org:80 (64.50.236.52), connection timed out Could not connect to packages.ros.org:80 (140.211.166.134), connection timed out
+E: Internal Error, ordering was unable to handle the media swap
+```
+
+给docker 容器设置图形化  
+host
+
+```sh
+sudo apt-get install x11-xserver-utils
+xhost + 
+ access control disabled, clients can connect from any host
+
+docker run -it -v /etc/localtime:/etc/localtime:ro -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY -e GDK_SCALE -e GDK_DPI_SCALE --name ros2 ros:rolling
+```

2024/08/vscode_ssh_graph_configure.md

@@ -0,0 +1,34 @@
+
+在远程服务器上，检查 `/etc/ssh/sshd_config` 文件中的 X11 转发设置：
+
+```
+X11Forwarding yes
+X11DisplayOffset 10
+
+```
+
+`sudo systemctl restart sshd`
+
+配置本地ssh配置方便vscode使用  
+~/.ssh/config
+
+```
+Host your-remote-host
+    ForwardX11 yes
+    ForwardX11Trusted yes
+
+```
+
+连接到远程服务器需要  
+
+```
+export DISPLAY=localhost:10.0
+
+xclock
+```
+
+也可以直接用ssh命令行
+
+```
+ssh -X user@hostname
+```

README.md

@@ -3,6 +3,9 @@ The best thing to do is have fun.
 - [列表 - 韩立的修炼](/)
 - [Hobby Projects](/hobby_projects.md)
 
+- **2024-08**
+  - [Vscode/ssh配置远程服务器图形化](/2024/08/vscode_ssh_graph_configure.md)
+  - [Ros2环境搭建](/2024/08/ros2_dev_environment.md)
 - **2024-07**
   - [Kata](/kata.md)
   - [用Rust和Golang写一个Brainfuck JIT](/2024/07/brainfuck_jit.md)