Ubuntu 22.04 기본 셋팅

크롬설정

sudo apt-get install -y wget

wget https://dl.google.com/linux/direct/google-chrome-stable_current_amd64.deb

sudo dpkg -i ./google-chrome-stable_current_amd64.deb

터미네이터설치

sudo apt update
sudo apt install terminator

멀티부팅 순서 설정

sudo nano /etc/default/grub

• GRUB_DEFAULT=0 > GRUB_DEFAULT=2 #change
  • Ctrl + o > Enter > Ctrl + x

sudo update-grub

시간 설정

timedatectl set-local-rtc 1 --adjust-system-clock

timedatectl

timedatectl set-local-rtc 0 --adjust-system-clock

VSC 설치

sudo apt update
sudo apt upgrade -y

wget -O- https://packages.microsoft.com/keys/microsoft.asc | sudo gpg --dearmor | sudo tee /usr/share/keyrings/vscode.gpg

echo deb [arch=amd64 signed-by=/usr/share/keyrings/vscode.gpg] https://packages.microsoft.com/repos/vscode stable main | sudo tee /etc/apt/sources.list.d/vscode.list

sudo apt update

sudo apt install code

pip 설치

sudo apt-get install python3-pip

주피터 노트북 설치

sudo apt update
sudo apt install python3-pip python3-dev
pip3 install jupyter

jupyter-notebook

ROS2 humble 설치

locale  # check for UTF-8

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

locale  # verify settings

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
sudo dpkg -i /tmp/ros2-apt-source.deb

sudo apt update
sudo apt upgrade

sudo apt install ros-humble-desktop
sudo apt install ros-humble-ros-base
sudo apt install ros-dev-tools

sudo apt update
sudo apt install gedit

gedit ~/.bashrc

• source /opt/ros/humble/setup.bash
• alias sb='echo "bashrc is complete!";source ~/.bashrc'
• alias codebh='code ~/.bashrc'

ROS2 개발 툴체인 설치

sudo apt update && sudo apt install -y build-essential cmake git libbullet-dev python3-colcon-common-extensions python3-flake8 python3-pip python3-pytest-cov python3-rosdep python3-setuptools python3-vcstool wget
python3 -m pip install -U argcomplete flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest
sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev libcunit1-dev

기타 패키지 설치 (gazebo, cartographer, Navigation, moveit, pyqt)

# ROS2-gazebo 연동을 위한 패키지
sudo apt install ros-humble-gazebo-ros-pkgs
sudo apt install ros-humble-gazebo-ros2-control

# SLAM 관련 패키지 
sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

# Navigation 관련 패키지
sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

# ROS2 motion planning 프레임워크
sudo apt-get install ros-humble-moveit

# pyqt 설치
sudo apt-get install pyqt5-dev-tools
python3 -m pip install --upgrade pip
python3 -m pip install -U catkin_pkg cryptography empy ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools rosdistro
python3 -m pip install -U pydot PyQt5

bloom 0.12.0 requires empy<4, but you have empy 4.2 which is incompatible

pip uninstall empy
rm -rf ~/.local/lib/python3.10/site-packages/empy
rm -rf ~/.local/lib/python3.10/site-packages/em.

---

pip install empy==3.3.4
sudo apt-get install pyqt5-dev-tools
python3 -m pip install --upgrade pip
python3 -m pip install -U catkin_pkg cryptography ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools rosdistro
python3 -m pip install -U pydot PyQt5

conda 설치

sudo apt update
sudo apt install curl -y

curl --output anaconda.sh https://repo.anaconda.com/archive/Anaconda3-2025.06-1-Linux-x86_64.sh
sha256sum anaconda.sh
bash anaconda.sh

sudo vi ~/.bashrc

• export PATH=~/anaconda3/bin:~/anaconda3/condabin:$PATH
  • 마지막 줄에 추가 후 > :wq

source ~/.bashrc

conda -V

한글 설정

Nvidia driver 설치

sudo apt update && upgrade -y
sudo apt install build-essential gcc ubuntu-drivers-common dkms vim nvidia-modprobe

sudo bash -c "echo blacklist nouveau > /etc/modprobe.d/blacklist-nvidia-nouveau.conf"
sudo bash -c "echo options nouveau modeset=0 >> /etc/modprobe.d/blacklist-nvidia-nouveau.conf"

cat /etc/modprobe.d/blacklist-nvidia-nouveau.conf
blacklist nouveau
options nouveau modeset=0

sudo update-initramfs -u

• sudo reboot

lsmod |grep nouveau

ubuntu-drivers devices

sudo apt install nvidia-driver-575

• sudo reboot

nvidia-smi

CUDA 설치

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참고 자료

• 22.04 LTS 구글 크롬 설치

• 우분투에서 Terminator 설치하기

• [Ubuntu] 우분투 멀티 부팅 GRUB 순서 설정

• [Ubuntu] 듀얼부팅시 Windows 시간 변경되는 문제 해결하기

• Ubuntu 22.04에서 VSCode 설치

• [Linux] 우분투 Jupyter notebook 설치하기

• Ubuntu (deb packages) — ROS 2 Documentation: Humble documentation

• Ubuntu 22.04에 ROS2 humble과 Gazebo 설치

• Ubuntu 22.04에 Anaconda 설치 및 가상환경 세팅

• Ubuntu 24.04 한글 입력기 설정 (한영 변환 설정)

• [Linux] Ubuntu 22.04 NVIDIA 드라이버 + CUDA + cuDNN 설치하기

• CUDA Toolkit Archive