一、电脑配置
双系统
显卡：RTX2060
二、确定显卡驱动的安装版本
ubuntu-drivers devices
输入后出现如下提示：
cmn@cmn-ubuntu:~/ROS_ws/yin_ws$ ubuntu-drivers devices
WARNING:root:_pkg_get_support nvidia-driver-515: package has invalid Support PBheader, cannot determine support level
WARNING:root:_pkg_get_support nvidia-driver-510-server: package has invalid Support PBheader, cannot determine support level
WARNING:root:_pkg_get_support nvidia-driver-510: package has invalid Support PBheader, cannot determine support level
== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
modalias : pci:v000010DEd00001F06sv00007377sd00000000bc03sc00i00
vendor : NVIDIA Corporation
driver : nvidia-driver-515 - third-party non-free
driver : nvidia-driver-450-server - distro non-free
driver : nvidia-driver-510-server - distro non-free
driver : nvidia-driver-470-server - distro non-free
driver : nvidia-driver-510 - distro non-free
driver : nvidia-driver-470 - distro non-free recommended
driver : xserver-xorg-video-nouveau - distro free builtin
虽然有警告，但是提示我可以装510
三、安装驱动
sudo apt-get update
sudo apt-get install nvidia-driver-510-server
如果出现如下报错：
W: Possible missing firmware /lib/firmware/rtl_nic/rtl8125a-3.fw for module r8169
W: Possible missing firmware /lib/firmware/rtl_nic/rtl8168fp-3.fw for module r8169
参考：
W: Possible missing firmware /lib/firmware/rtl_nic/rtl8125a-3.fw for module r8169_TwilightZrui的博客-CSDN博客
问题定位：
缺少固件，需要手动补充，解决方法：
1.进入如下地址：
rtl_nic - kernel/git/firmware/linux-firmware.git - Repository of firmware blobs for use with the Linux kernel
2.根据报错，从如上网址中下载缺少的固件
cd /lib/firmware/rtl_nic/
sudo wget https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/tree/rtl_nic/rtl8125a-3.fw
sudo wget https://git.kernel.org/pub/scm/linux/kernel/git/firmware/linux-firmware.git/tree/rtl_nic/rtl8168fp-3.fw
3.再次查看
sudo update-initramfs -u
接下来继续安装：
sudo apt-get install mesa-common-dev
sudo apt-get install freeglut3-dev
重启检查是否安装成功（确保BIOS中secure boot设置为disabled）：
nvidia-smi
出现如下提示即安装成功：
cmn@cmn-ubuntu:~$ nvidia-smi
Fri Jun 24 15:31:11 2022
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 510.73.08 Driver Version: 510.73.08 CUDA Version: 11.6 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 NVIDIA GeForce ... Off | 00000000:01:00.0 On | N/A |
| 60% 49C P8 24W / 184W | 320MiB / 8192MiB | 1% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 1494 G /usr/lib/xorg/Xorg 24MiB |
| 0 N/A N/A 1554 G /usr/bin/gnome-shell 49MiB |
| 0 N/A N/A 1738 G /usr/lib/xorg/Xorg 160MiB |
| 0 N/A N/A 1863 G /usr/bin/gnome-shell 83MiB |
+-----------------------------------------------------------------------------+
四、CUDA安装
官网连接：CUDA Toolkit Archive | NVIDIA Developer
我选择的是cuda-10.0版本，选择runfile格式的cuda文件下载，大概1.9G
然后执行如下命令：
sudo bash cuda_10.0.130_410.48_linux.run
压住回车键，直到服务条款显示到100%。接着按下面的步骤选择：
accept
n（不要安装driver）
y
y
y
安装完成后，输入：nvcc -V
显示如下即安装完成：
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2018 NVIDIA Corporation
Built on Sat_Aug_25_21:08:01_CDT_2018
Cuda compilation tools, release 10.0, V10.0.130
安装完成后，设置环境变量：
打开文件：gedit ~/.bashrc
在文件中添加如下路径：
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-10.0/lib64
export PATH=$PATH:/usr/local/cuda-10.0/bin
export CUDA_HOME=$CUDA_HOME:/usr/local/cuda-10.0
保存运行：
source ~/.bashrc
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