树莓派4B开发板安装Anaconda虚拟环境

一、实验环境

以wheeltec轮趣ROS教育机器人-树莓派4B版为例，安装Anaconda虚拟环境。

关于树莓派的规格信息，请参考另一篇博客：wheeltec轮趣ROS教育机器人的网络连接

二、安装miniconda

推荐安装 Miniconda3-py38_4.9.2 版本。

wget https://mirrors.tuna.tsinghua.edu.cn/anaconda/miniconda/Miniconda3-py38_4.9.2-Linux-aarch64.sh

chmod +x Miniconda3-py38_4.9.2-Linux-aarch64.sh 

bash Miniconda3-py38_4.9.2-Linux-aarch64.sh 

wheeltec@wheeltec:~/Downloads$ bash Miniconda3-py38_4.9.2-Linux-aarch64.sh 

Welcome to Miniconda3 py38_4.9.2

In order to continue the installation process, please review the license
agreement.
Please, press ENTER to continue
>>> 
===================================
End User License Agreement - Anaconda Individual Edition
===================================

Copyright 2015-2020, Anaconda, Inc.

All rights reserved under the 3-clause BSD License:

This End User License Agreement (the "Agreement") is a legal agreement between you an
d Anaconda, Inc. ("Anaconda") and governs your use of Anaconda Individual Edition (wh
ich was formerly known as Anaconda Distribution).

Subject to the terms of this Agreement, Anaconda hereby grants you a non-exclusive, n
on-transferable license to:

  * Install and use the Anaconda Individual Edition (which was formerly known as Anac
onda Distribution),
  * Modify and create derivative works of sample source code delivered in Anaconda In
dividual Edition from Anaconda's repository; and
  * Redistribute code files in source (if provided to you by Anaconda as source) and 
binary forms, with or without modification subject to the requirements set forth belo
w.


Do you accept the license terms? [yes|no]
[no] >>> yes

Miniconda3 will now be installed into this location:
/home/wheeltec/miniconda3

  - Press ENTER to confirm the location
  - Press CTRL-C to abort the installation
  - Or specify a different location below

[/home/wheeltec/miniconda3] >>> 
PREFIX=/home/wheeltec/miniconda3
Unpacking payload ...
Collecting package metadata (current_repodata.json): done                            
Solving environment: done

## Package Plan ##

  environment location: /home/wheeltec/miniconda3

  added / updated specs:
    - _libgcc_mutex==0.1=main
    - _openmp_mutex==5.1=1_gnu
    - brotlipy==0.7.0=py38hfd63f10_1002
    - ca-certificates==2021.1.19=hd43f75c_0
    - certifi==2020.12.5=py38hd43f75c_0
    - cffi==1.14.5=py38hdced402_0
    - chardet==4.0.0=py38hd43f75c_1003
    - conda-package-handling==1.7.2=py38hfd63f10_1
    - conda==4.9.2=py38hd43f75c_0
    - cryptography==3.3.1=py38hcd09bdd_0
    - idna==2.10=pyhd3eb1b0_0
    - ld_impl_linux-aarch64==2.36.1=hfa81395_2
    - libedit==3.1.20191231=hfd63f10_0
    - libffi==3.3=h7c1a80f_2
    - libgcc-ng==10.2.0=h1234567_0_bootstrapping
    - libgomp==10.2.0=h1234567_0_bootstrapping
    - libstdcxx-ng==10.2.0=h1234567_0_bootstrapping
    - ncurses==6.2=hfd63f10_0
    - openssl==1.1.1j=hfd63f10_0
    - pip==21.0.1=py38hd43f75c_0
    - pycosat==0.6.3=py38hfd63f10_0
    - pycparser==2.20=py_2
    - pyopenssl==20.0.1=pyhd3eb1b0_1
    - pysocks==1.7.1=py38hd43f75c_0
    - python==3.8.8=he65049a_5
    - readline==8.1=hfd63f10_0
    - requests==2.25.1=pyhd3eb1b0_0
    - ruamel_yaml==0.15.80=py38hfd63f10_0
    - setuptools==52.0.0=py38hd43f75c_0
    - six==1.15.0=pyhd3eb1b0_0
    - sqlite==3.32.3=h2e10e0d_0
    - tk==8.6.10=h8ea0f78_0
    - tqdm==4.59.0=pyhd3eb1b0_1
    - urllib3==1.26.4=pyhd3eb1b0_0
    - wheel==0.36.2=pyhd3eb1b0_0
    - xz==5.2.4=hfd63f10_4
    - yaml==0.1.7=hfd63f10_3
    - zlib==1.2.11=hfd63f10_3


The following NEW packages will be INSTALLED:

  _libgcc_mutex      pkgs/main/linux-aarch64::_libgcc_mutex-0.1-main
  _openmp_mutex      pkgs/main/linux-aarch64::_openmp_mutex-5.1-1_gnu
  brotlipy           pkgs/main/linux-aarch64::brotlipy-0.7.0-py38hfd63f10_1002
  ca-certificates    pkgs/main/linux-aarch64::ca-certificates-2021.1.19-hd43f75c_0
  certifi            pkgs/main/linux-aarch64::certifi-2020.12.5-py38hd43f75c_0
  cffi               pkgs/main/linux-aarch64::cffi-1.14.5-py38hdced402_0
  chardet            pkgs/main/linux-aarch64::chardet-4.0.0-py38hd43f75c_1003
  conda              pkgs/main/linux-aarch64::conda-4.9.2-py38hd43f75c_0
  conda-package-han~ pkgs/main/linux-aarch64::conda-package-handling-1.7.2-py38hfd63f10_1
  cryptography       pkgs/main/linux-aarch64::cryptography-3.3.1-py38hcd09bdd_0
  idna               pkgs/main/noarch::idna-2.10-pyhd3eb1b0_0
  ld_impl_linux-aar~ pkgs/main/linux-aarch64::ld_impl_linux-aarch64-2.36.1-hfa81395_2
  libedit            pkgs/main/linux-aarch64::libedit-3.1.20191231-hfd63f10_0
  libffi             pkgs/main/linux-aarch64::libffi-3.3-h7c1a80f_2
  libgcc-ng          pkgs/main/linux-aarch64::libgcc-ng-10.2.0-h1234567_0_bootstrapping
  libgomp            pkgs/main/linux-aarch64::libgomp-10.2.0-h1234567_0_bootstrapping
  libstdcxx-ng       pkgs/main/linux-aarch64::libstdcxx-ng-10.2.0-h1234567_0_bootstrapping
  ncurses            pkgs/main/linux-aarch64::ncurses-6.2-hfd63f10_0
  openssl            pkgs/main/linux-aarch64::openssl-1.1.1j-hfd63f10_0
  pip                pkgs/main/linux-aarch64::pip-21.0.1-py38hd43f75c_0
  pycosat            pkgs/main/linux-aarch64::pycosat-0.6.3-py38hfd63f10_0
  pycparser          pkgs/main/noarch::pycparser-2.20-py_2
  pyopenssl          pkgs/main/noarch::pyopenssl-20.0.1-pyhd3eb1b0_1
  pysocks            pkgs/main/linux-aarch64::pysocks-1.7.1-py38hd43f75c_0
  python             pkgs/main/linux-aarch64::python-3.8.8-he65049a_5
  readline           pkgs/main/linux-aarch64::readline-8.1-hfd63f10_0
  requests           pkgs/main/noarch::requests-2.25.1-pyhd3eb1b0_0
  ruamel_yaml        pkgs/main/linux-aarch64::ruamel_yaml-0.15.80-py38hfd63f10_0
  setuptools         pkgs/main/linux-aarch64::setuptools-52.0.0-py38hd43f75c_0
  six                pkgs/main/noarch::six-1.15.0-pyhd3eb1b0_0
  sqlite             pkgs/main/linux-aarch64::sqlite-3.32.3-h2e10e0d_0
  tk                 pkgs/main/linux-aarch64::tk-8.6.10-h8ea0f78_0
  tqdm               pkgs/main/noarch::tqdm-4.59.0-pyhd3eb1b0_1
  urllib3            pkgs/main/noarch::urllib3-1.26.4-pyhd3eb1b0_0
  wheel              pkgs/main/noarch::wheel-0.36.2-pyhd3eb1b0_0
  xz                 pkgs/main/linux-aarch64::xz-5.2.4-hfd63f10_4
  yaml               pkgs/main/linux-aarch64::yaml-0.1.7-hfd63f10_3
  zlib               pkgs/main/linux-aarch64::zlib-1.2.11-hfd63f10_3


Preparing transaction: done
Executing transaction: done
installation finished.
WARNING:
    You currently have a PYTHONPATH environment variable set. This may cause
    unexpected behavior when running the Python interpreter in Miniconda3.
    For best results, please verify that your PYTHONPATH only points to
    directories of packages that are compatible with the Python interpreter
    in Miniconda3: /home/wheeltec/miniconda3
Do you wish the installer to initialize Miniconda3
by running conda init? [yes|no]
[no] >>> yes
no change     /home/wheeltec/miniconda3/condabin/conda
no change     /home/wheeltec/miniconda3/bin/conda
no change     /home/wheeltec/miniconda3/bin/conda-env
no change     /home/wheeltec/miniconda3/bin/activate
no change     /home/wheeltec/miniconda3/bin/deactivate
no change     /home/wheeltec/miniconda3/etc/profile.d/conda.sh
no change     /home/wheeltec/miniconda3/etc/fish/conf.d/conda.fish
no change     /home/wheeltec/miniconda3/shell/condabin/Conda.psm1
no change     /home/wheeltec/miniconda3/shell/condabin/conda-hook.ps1
no change     /home/wheeltec/miniconda3/lib/python3.8/site-packages/xontrib/conda.xsh
no change     /home/wheeltec/miniconda3/etc/profile.d/conda.csh
modified      /home/wheeltec/.bashrc

==> For changes to take effect, close and re-open your current shell. <==

If you'd prefer that conda's base environment not be activated on startup, 
   set the auto_activate_base parameter to false: 

conda config --set auto_activate_base false

Thank you for installing Miniconda3!

三、FAQ

Q：wheeltec@wheeltec:~/miniconda3/bin$ conda info --envs

树莓派4B64位系统安装miniconda（折腾了几天终于解决）

树莓派安装anaconda

Miniconda3 will now be installed into this location:
/home/wheeltec/miniconda3

  - Press ENTER to confirm the location
  - Press CTRL-C to abort the installation
  - Or specify a different location below

[/home/wheeltec/miniconda3] >>> 
PREFIX=/home/wheeltec/miniconda3
Unpacking payload ...
./Miniconda3-py38_4.11.0-Linux-aarch64.sh: line 417: 75921 Illegal instruction     (core dumped) "$CONDA_EXEC" constructor --prefix "$PREFIX" --extract-conda-pkgs

wheeltec@wheeltec:~/miniconda3/bin$ conda info --envs
Illegal instruction (core dumped)

# 错误原因
树莓派4B 64位系统属于aarch64，但是目前树莓派无法兼容miniconda3 4.10以上的版本

# 解决办法
安装Miniconda3-py38_4.9.2版本

wheeltec@wheeltec:~/miniconda3$ uname -a
Linux wheeltec 5.4.0-1069-raspi #79-Ubuntu SMP PREEMPT Thu Aug 18 18:15:22 UTC 2022 aarch64 aarch64 aarch64 GNU/Linux
wheeltec@wheeltec:~/miniconda3$ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.4 LTS
Release:	20.04
Codename:	focal