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常用命令

Claude Code​

卸载旧版npm​

npm uninstall -g @anthropic-ai/claude-code

安装​

winget install Anthropic.ClaudeCode

更新​

winget upgrade Anthropic.ClaudeCode

设置暂停更新​

set DISABLE_AUTOUPDATER=1

错误码400​

set CLAUDE_CODE_DISABLE_EXPERIMENTAL_BETAS=1

常用MCP​

提供最新文档Github官方链接

claude mcp add context7 -- npx -y @upstash/context7-mcp

浏览器可视化Github官方链接

claude mcp add chrome-devtools npx chrome-devtools-mcp@latest

ROS2​

激活虚拟环境​

source /opt/py310env/bin/activate

激活配置​

source /opt/ros_jazzy/install/setup.bash && source /home/cst/robot/install/local_setup.bash

设置环境变量​

export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
export ROS_STATIC_PEERS=10.1.1.214
export RCUTILS_CONSOLE_OUTPUT_FORMAT="{severity}|{date_time_with_ms}|{name}|:{message}"

rk3576数据库节点​

ros2 run cst_database_node cst_database --ros-args --remap __ns:=/girl_9cb8b4d27eaa

rk3576智能体节点​

ros2 run agent agent_main --ros-args --remap __ns:=/girl_9cb8b4d27eaa

rk3576音频节点​

ros2 run cst_audio aliyun_audio  --ros-args --remap __ns:=/girl_9cb8b4d27eaa

查看tts频率话题​

ros2 topic echo /girl_9cb8b4d27eaa/tts_frequency

ros参数配置tts模型和音色​

切换qwen3流式：

ros2 param set /girl_9cb8b4d27eaa/aliyun_audio rb_audio.aliyun_tts.model_dev qwen3_qwen-tts-vd-announcer-voice-20260226095730699-d970

切换火山流式:

ros2 param set /girl_9cb8b4d27eaa/aliyun_audio rb_audio.aliyun_tts.model_dev huoshan_ICL_zh_female_wenyinvsheng_v1_tob

ros2日志位置​

cd ~/.ros/log/

设置本地模型参数​

ros2 param set /girl_9cb8b4d27eaa/cst_agent rb_agent.agent.use_local_llm True

启动Agent节点​

ros2 run agent agent_main --ros-args --remap __ns:=/huoxingmeinv_5a_dd_e4_33_ae_24

启动数据库节点​

ros2 run cst_database_node cst_database --ros-args --remap __ns:=/huoxingmeinv_5a_dd_e4_33_ae_24

复制windows文件到linux目录下​

scp -P 2212 "[这里输入windows文件路径]" teamhd@10.1.1.158:[linux目录]

比如:

scp -P 2212 "C:/Users/Administrator/Desktop/10.1.1.158/dataset/rag.txt" teamhd@10.1.1.158:/tmp/

复制windows目录到linux目录​

scp -r -P 2212 "[这里输入windows文件路径]" teamhd@10.1.1.158:[linux目录]

编译​

注意编译目录包含package.xml才是ROS2包

cd /home/cst/robot
colcon build --packages-select [包含xml的包] --symlink-install

清理旧的编译文件​

cd /home/cst/robot
rm -rf build/[包含xml的包] install/[包含xml的包]

Linux​

创建数据库权限不足​

sudo chown -R teamhd:teamhd /home/cst/database

RKLLM​

激活虚拟环境​

source .venv/bin/activate

启动模型服务​

1.进入Flask服务器目录

cd /home/teamhd/code/rkllm_instructor/rknn-llm-release-v1.2.3/examples/rkllm_server_demo/rkllm_server

2.设置库路径

export LD_LIBRARY_PATH=./lib:$LD_LIBRARY_PATH

3.设置日志等级

export RKLLM_LOG_LEVEL=2

4.启动服务

python3 flask_server.py --rkllm_model_path /home/teamhd/code/rkllm_instructor/qwen3-0.6b.rkllm --target_platform rk3588

查看npu使用率​

watch -n 0.1 sudo cat /sys/kernel/debug/rknpu/load