ubuntu相关操作指令

1. 限制进程CPU占用率

sudo cpulimit -p 1780(进程号) -l 200

2. 脱离终端后台运行程序

nohup roslaunch your_package_name your_launch_file.launch &

3. 查看python3相关进程

sudo ps aux | grep python3

4. cyclonedds开启外部网络传输

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export CYCLONEDDS_URI=file:///home/zme/cyclonedds_out.xml

cyclonedds_out.xml:

<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/iceoryx/etc/cyclonedds.xsd">
    <Domain id="any">
        <General>
                <Interfaces>
                        <NetworkInterface name="wlan0" priority="default" multicast="default" />
                </Interfaces>
        </General>
    </Domain>
</CycloneDDS>

5. ros2 topic list卡住的问题：

ps -ax | grep ros2

会出现一个叫--name ros2-daemon --ros-domain-id
把这个进程杀掉

6. 查看文件大小
   显示当前目录下各个子目录和文件的大小

du -h --max-depth=1 .

所有目录中前 30 大的空间占用者（不限层数）

du -ah . | sort -hr | head -30

7. 终端增加clash

sudo -E env http_proxy=http://127.0.0.1:7897 https_proxy=http://127.0.0.1:7897 apt-get update
sudo -E env http_proxy=http://127.0.0.1:7897 https_proxy=http://127.0.0.1:7897 apt-get install -y nvidia-container-toolkit

8. 针对conda中Vulkan和python3.8的冲突，在conda中运行python程序时，临时增加conda路径

export LD_LIBRARY_PATH=/home/penuel/miniconda3/envs/unitree-rl/lib:$LD_LIBRARY_PATH