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ROSMASTER M1📖
01.Robot Configuration and Operation Guide
  • 0. Assembly video
  • 1. Servo PTZ calibration
  • 2. Quick start guide handle control
  • 3. First trial
  • 4. Enter Docker (For JETSON Nano and RPi 5)
  • 1.5 Quick Start video
02.AI Model Preparation
  • AI Model Preparation
03.AI Model Basics course
  • 1.AI large model types and principles
  • 2.RAG retrieval enhancement and model training samples
  • 3.Embodied intelligent robot system architecture
  • 4.Embodied intelligent functions core source code
04.AI Model Developmentnew
  • 1.Register a model service provider account
  • 2. Configuring API-KEY
  • 3. Introduction to Dify
  • 4. Basic Dify Features
  • 5. Deploy the RAG knowledge base
  • 6. AI Large Model Development - chatbot
  • 7. RAG knowledge base + chatbot
  • 8. AI agent workflow
  • 9. Custom wake-up response
  • 10. Core module testing tools
05.AI Model - Text Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understand
  • 3.Multimodal visual understand + PTZ tracking
  • 4.Multimodal visual understand + visual following
  • 5.Multimodal visual understand + visual line patroling
  • 6.Multimodal visual understand + Depth Camera Distance Question Answering
  • 7.Multimodal visual understand+SLAM navigation
  • 8.Multimodal visual understand+SLAM navigation + visual line patroling
  • 9.Intention estimation + Multimodal visual understand + SLAM navigation + visual functions
06.AI Model - Voice Version
  • 1.Semantic understand and command follow
  • 2.Multimodal visual understand
  • 3.Multimodal visual understand + PTZ tracking
  • 4.Multimodal visual understand + visual following
  • 5.Multimodal visual understand + visual line patroling
  • 6.Multimodal visual understand + Depth Camera Distance Question Answering
  • 7.Multimodal visual understand+SLAM navigation
  • 8.Multimodal visual understand+SLAM navigation + visual line patroling
  • 9.Intention estimation + Multimodal visual understand + SLAM navigation + visual functions
07.Chassis Control Course
  • 1. ROS control
  • 2. Handle control
  • 3. Keyboard control
  • 4. Linear velocity calibration
  • 5. Angular velocity calibration
  • 6. URDF model
08.Mediapipe Visual Course
  • 1.Hand detection
  • 2.Posture detection
  • 3.Overall detection
  • 4.Facial landmark detection
  • 5.Face detection
  • 6.Face special effects
  • 7.3D object recognition
  • 8.Brush
  • 9.Finger control
  • 10.Gesture recognition
  • 11.Palm target positioning
  • 12.Fingertip trajectory recognition
09.Advanced Vision Course
  • 1.QR code
  • 2.Human Pose Estimation
  • 3.Object Detection
  • 4.AR Vision
  • 5.ROS+Opencv Basics
  • 6.Yolov8 Object Detection (ORIN)
  • 7.Deep Learning Object Tracking (ORIN)
10.HD Camera Vision Course(Standard Version)
  • 01.Color tracking
  • 02.Face Tracking
  • 03.AprilTag machine code tracking
  • 04.KCF Object Tracking
  • 05.QR code tracking
  • 06.Mediapipe gesture tracking
  • 07.Meidpipe human posture tracking
  • 08.Color Follow
  • 09.Face Following
  • 10.AprilTag machine code following
  • 11.QR code follow
  • 12.Mediapipe gesture recognition and following
  • 13.Meidpipe human posture following
  • 14.Visual tracking autonomous driving
  • 15.QR code motion control
  • 16.Gesture motion control
11.Depth Camera Vision Course(Superior Version)
  • 1.Basic use of depth camera
  • 2.Deep pseudo-color image
  • 3.Depth camera ranging
  • 4.Color block volume measurement
  • 5.Color Following
  • 6.Face Following
  • 7.QR code follow
  • 8.Machine code following
  • 9.KCF Object Following
  • 10.Mediapipe gesture following
  • 11.Mediapipe Posture Following
  • 12.Visual tracking autonomous driving
  • 13.Edge Detection
12.LiDAR Course
  • 1.Basic use of Lidar
  • 2.Lidar obstacle avoidance
  • 3.Lidar following
  • 4.Lidar patrol
  • 5.Gmapping-SLAM mapping
  • 6.Cartographer-SLAM mapping
  • 7.slam_toolbox mapping
  • 8.Navigation2 single-point navigation avoid
  • 9.Navigation2 multi-point navigation avoid
  • 10.Cartographer Repositioning navigation
  • 11.RTAB-Map mapping
  • 12.RTAB-Map navigation
  • 13.APP mapping navigation
13.Multi-Vehicle Course
  • 1.Multi-vehicle control
  • 2.Multi-vehicle navigation
  • 3.Multi-vehicle platoon
14.Autonomous Driving expand(Need purchase track map)
【Track Map】Multimodal visual understand+SLAM navigation
  • 1. Multimodal visual understand+SLAM navigation
【Track Map】Autonomous driving (RDKX5 & Orin)
  • 1. Venue placement and precautions
  • 2. Start testing
  • 3. Identify and debug
  • 4. Lane keeping
  • 5. Road sign detection
  • 6. Traffic light recognition
  • 7. Fixed point parking
  • 8. Steering decision
  • 9. Horn sounding
  • 10. Deceleration
  • 11. Speed limit
  • 12. Autonomous parking
  • 13. Comprehensive application
  • 14. Unmanned driving integrated AI large model
【Track Map】Autonomous driving (Jetson Nano)
  • 1. Venue placement and precautions
  • 2. Start testing
  • 3. Identify and debug
  • 4. Lane keeping
  • 5. Road sign detection
  • 6. Traffic light recognition
  • 7. Fixed point parking
  • 8. Steering decision
  • 9. Horn sounding
  • 10. Deceleration
  • 11. Speed limit
  • 12. Autonomous parking
  • 13. Comprehensive application
【Track Map】Road network planning
  • 1. Introduction to Road Network Planning and Navigation
  • 2. Constructing a Pose Map
  • 3. Road Network Labelling
  • 4. Road Network Planning Combined with Sand Table Map
  • 5. Path Replanning
【Track Map】Model Training
  • 1. Data Collection
  • 2. Dataset Annotation
  • 3. YOLOv11 Model Training
  • 4. Model Format Conversion
15.YOLOV11 development course (ORIN)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Dataset annotation
  • 10.Model Training_Conversion
  • 11.Model prediction
16.YOLOV11 development course(RPi&Jetson NANO)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model conversion
  • 9.Model prediction
17.YOLOV11 development course(RDK X5)
  • 1.YOLO environment construction
  • 2.CLI use
  • 3.Object detection
  • 4.Instance segmentation
  • 5.Pose estimation
  • 6.Image classification
  • 7.Oriented object detection
  • 8.Model prediction
  • 9.Model Quantization
18.Main control board course
Jetson Nano B01
  • 1. Introduction to the Jetson Nano B01 SUB Board
  • 2. Burn the system image
  • 3. Re-read the memory card or USB drive that has been burned
  • 4. Startup system
  • 5. Jetson Nano B01 System and Desktop Introduction
  • 6. Memory card or USB flash drive expansion
  • 7. Network Configuration
  • 8. SSH remote login & file transfer
  • 9. VNC Remote Login
  • 10. Jetson Nano B01 system backup
  • 11. Jetson Nano Swap space increased
  • 12. Installation and use of Jtop
  • 13. Third-party board + USB drive to start the car
Jetson Orin Nano_NX
  • 1.Jetson Orin board introduction
  • 2.Restore the factory image system
  • 3.Backup SSD system
  • 4.SSD expansion
  • 5.Network configuration
  • 6.SSH remote login
  • 7.VNC remote control
  • 8.Remote file transfer
  • 9.Jtop tool
  • 10.Exchange space expansion
Raspberry Pi
  • 1. Introduction to Raspberry PI 5
  • 2. Raspberry PI system installation and backup
  • 3. Powering the Raspberry PI 5
  • 4. Startup of Raspberry PI 5
  • 5. Update and upgrade operating system
  • 6. Introduction to raspi-config tool
  • 7. config.txt file description
  • 8. Network Configuration
  • 9. remote access
  • 10. Transfer files remotely
  • 11. Set display resolution and rotation
  • 12. Set screen to sleep
  • 13. Play audio and video
  • 14. Using USB camera
  • 15. Using MIPI camera
  • 16. Get real-time temperature of Raspberry Pi
RDK X5
  • 1.Introduction to RDK X5 board
  • 2.Write system file
  • 3.Hardware interface description
  • 4.Install case and other accessories
  • 5.Network configuration
  • 6.Remote login
  • 7.Update system
  • 8.srpi-config user guide
  • 9.config. txt configuration file
  • 10.Self-startup setting
  • 11.RDK exclusive command usage
  • 12.Linux command usage
  • 13.GPIO readwrite operation
  • 14.Image classification algorithm
  • 15.Use USB camera
  • 16.Use MIPI camera
  • 17.Binocular camera depth algorithm
19.AI large model course(ORIN-Pi-RDK X5)
Offline large model (Text Interaction)
  • 0. AI Large Model Mirroring Explanation
  • 1. Deployment of large-scale AI models
  • 2.Installation of the large-scale model dialogue platform
  • 3. Meta AI Llama 3.2 model
  • 4. Alibaba Cloud Qwen3 Model
  • 5. Microsoft Phi-4 mini model
  • 6. DeepSeek DeepSeek-R1 model
  • 7. Alibaba Cloud Qwen2.5vl Visual Multimodal Large Model
  • 8. Google Gemma3 Visual Multimodal Large Model
  • 9. Llava Visual Multimodal Large Model
  • 10.MiniCPM-V Visual Multimodal Large Model
  • 11. Multimodal Visual Understanding Applications
  • 12. Multimodal Text-Based Image Application
  • 13. Multimodal Video Analysis Application
  • 14. Multimodal visual positioning applications
  • 15. Multimodal table scanning application
  • 16. Multimodal Autonomous Agent Application
Offline large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Offline speech-to-text (ASR)
  • 2. Offline Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual understanding and voice interaction
  • 5. Multimodal Text-Based Image Application
  • 6. Multimodal Video Analysis Application
  • 7. Multimodal visual positioning applications
  • 8. Multimodal table scanning application
  • 9. Multimodal Autonomous Agent Applications
  • 10. AI large model offline voice assistant
Online large model (Text Interaction)
  • 1. OpenRouter Large Model API Aggregation Platform
  • 2. Multimodal visual understanding applications
  • 3. Multimodal visual positioning applications
  • 4. Multimodal table scanning application
  • 5. Multimodal Autonomous Agent Applications
Online large model (Voice Interaction)
  • 0. Voice Interaction Hardware Connection (Must Read)
  • 1. Online speech-to-text (ASR)
  • 2. Online Text-to-Speech (TTS)
  • 3. AI large model voice interaction
  • 4. Multimodal visual and voice interaction
  • 5. Multimodal visual positioning applications
  • 6. Multimodal table scanning application
  • 7. Multimodal Autonomous Agent Applications
  • 8. AI large model online voice assistant
20.AI large model course(Jetson NANO)
Offline large model (Text Interaction)
  • 4.Multimodal visual understand speech interaction
  • 0.AI large model system image instructions
  • 1.AI large model environment deployment
  • 2.Install large model dialogue platform
  • 3.Meta AI llama 3.2 model
  • 4.Alibaba Cloud Qwen2 model
  • 5.Alibaba Cloud Qwen3 model
  • 6.SUTD TinyLlama
  • 7.DeepSeek DeepSeek-R1 model
  • 8.Microsoft Phi-3
  • 9.Microsoft Orca Mini
  • 10.NVIDIA StarCoder2
  • 11.Google Gemma3 Visual Multimodal Large Model
  • 12.Offline Text to Speech (TTS)
  • 13.Offline Speech to Text (ASR)
Online large model (Text Interaction)
  • 1.OpenRouter large model API aggregation platform
  • 2.Multimodal visual understand application
  • 3.Multimodal visual localization application
  • 4.Multimodal table scanning application
  • 5.Multimodal autonomous proxy application
Online large model (Voice Interaction)
  • 0.Voice interaction hardware connection (ReadMe)
  • 1.Online speech-to-text (ASR)
  • 2.Online Text-to-Speech (TTS)
  • 3.AI large model voice interaction
  • 5.Multimodal visual position application
  • 6.Multimodal table scanning application
  • 7.Multimodal autonomous proxy application
  • 8.AI large model online voice assistant
21.Linux operating system course
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
22.Docker course
  • 1.Docker Introduction and Installation
  • 2.Docker basic commands
  • 3.Docker Submission and Multi-Terminal Access
  • 4.Docker Startup Script
  • 5.Docker-Vscode environment construction
23.ROS2 basic course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
24.Image processing course
  • 1. Introduction to Open Source CV
  • 2. Image reading and display
  • 3. Image writing
  • 4. Image quality
  • 5. Pixel Operation
  • 6. Image zoom
  • 7. Image cutting
  • 8. Image translation
  • 9. Image Mirroring
  • 10. Affine Transformation
  • 11. Image Rotation
  • 12. Perspective Transformation
  • 13. Grayscale processing
  • 14. Image Binarization
  • 15. Edge Detection
  • 16. Line drawing
  • 17. Rectangle and circle drawing
  • 18. Drawing text and pictures
25.STM32 driver course
  • 0. Notes (must read)
  • 1. About expansion board
  • 2. STM32 Development environment
  • 3. Button control
  • 4. FreeRTOS application
  • 5. Serial communication
  • 6. SBUS model aircraft remote control
  • 7. CAN bus communication
  • 8. RGB colorful light bar
  • 9. Timer interrupt to control PWM servo
  • 10. Control serial port servos
  • 11. Nine-axis attitude sensor to obtain data
  • 12. Control motor
  • 13. Timer captures the encoder data
  • 14. Robot kinematics analysis theory
  • 15. PID control robot movement
26.Main control communication course
  • 1. Update the expansion board firmware
  • 2. Install Rosmaster driver library
  • 3. Jupyter lab basic usage tutorial
  • 4. Buzzer whistle
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects display
  • 7. Control motor
  • 8. Control robot movement
  • 9. Control Serial Servo
Download
  • Mapping_APP(iOS_Android)
  • Robot_Image_System_File
  • Code-Firmware
  • Instruction_Manual
  • MainBoard_AI_Pure_System
  • VM_File
  • Software_Tools
  • Hardware_Info
  • 3D_Model_File
Download ZIP

Welcome to ROSMASTER M1 repository

12.Linux command usage

Linux command usage

Linux command usage1. apt2. dmesg3. dpkg-deb4. dpkg5. find6. grep command7. ifconfig8. ip9. mount10. netstat11. nohup12. ps13. route14. rsync15. scp16. ssh17. tar18. topGrammar explanationOption DescriptionTop interaction commandDisplay informationCommon commands19. zip

1. apt

apt (Advanced Packaging Tool) is a shell frontend package manager in Debian and Ubuntu.

apt command provides commands for finding, installing, upgrading, and deleting a single, a group, or even all software packages, and the commands are concise and easy to remember.

The execution of the apt command requires super-administrator privileges (root).

  • Grammar explanation

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    apt [options] [command] [package ...]
    • options: Optional, options include - h (Help), - y (When prompted to select all as "yes" during installation), - q (Do not display installation process), and so on.
    • command:The operation to be performed.
    • package: The name of the installed package.
  • Common commands

  • Update the apt software source database:sudo apt update

  • Update installed software packages:sudo apt upgrade

    List upgradable software packages and version information:apt list --upgradeable

    Upgrade software package, delete the package that needs to be updated before upgrading:sudo apt full-upgrade

  • Install the specified software command:sudo apt install <package_name>

    Install multiple software packages:sudo apt install <package_1> <package_2> <package_3>

  • Display specific information about the software package, such as version number, installation size, dependencies, etc:sudo apt show <package_name>

  • Delete package command:sudo apt remove <package_name>

  • Clean up dependencies and library files that are no longer in use: sudo apt autoremove

  • Remove software packages and configuration files: sudo apt purge <package_name>

  • Find software package command: sudo apt search <package_name>

  • List all installed packages:apt list --installed

  • List the version information of all installed packages:apt list --all-versions

2. dmesg

The dmesg command is used to view or control the kernel ring buffer.

The kernel will store the kernel startup log in the ring buffer. If you don't have time to view the information when turning on the computer, you can use dmesg to check.

  • Grammar explanation

    ​x
    dmesg [options]
    
    
           dmesg -C / dmesg --clear
           dmesg -c / dmesg --read-clear [options]
    • Option description
    • -c, --read-clear After displaying the information, clear the contents of the ring buffer.
    • -C, --clear Clear the contents of the ring buffer.
  • Common commands

    • Display the kernel log contents of all ring buffers

      xxxxxxxxxx
      dmesg
    • Save kernel logs to a file

      xxxxxxxxxx
      dmesg > kernel.log
    • Clearing cache logs can reduce log content during driver debugging

      xxxxxxxxxx
      dmesg -C

3. dpkg-deb

dpkg deb command is a package management tool under Debian Linux, which can perform packaging and unpacking operations on software packages and provide package information.

  • Grammar explanation

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  dpkg-deb [<option> ...] <command>
  • Command description

    dpkg-deb command not only has options to set, but also requires commands to perform different functions.

    • -b:Create a debian software package;
    • -c:Display the file list in the software package;
    • -e:Decompress the main control information;
    • -f:Print the field content to standard output;
    • -x:Release the files in the software package to the specified directory;
    • -X:Release the files in the software package to the specified directory and display the detailed process of releasing the files;
    • -w:Display information about software packages;
    • -l:Display detailed information of the software package;
    • -R:Extract control information and archive inventory files;
    • -b: Create a debian package.
    • -c: Display the file list in the software package.
    • -e: Decompress the main control information.
    • -f: Print the field content to standard output.
    • -x: Release files from the software package to the specified directory.
    • -X: Release the files in the software package to the specified directory and display the detailed process of releasing the files.
    • -w: Display information about the software package.
    • -l: Display detailed information of the software package.
    • -R: Extract control information and archive inventory files.
  • Option description

    • -v, --verbose:Enable detailed output.

    • -D, --debug:Enable debugging output.

      • --showformat=<format>:Use alternative formats for --show。
      • --deb-format=<format>:Select the archive format. The allowed values are 0.939000 and 2.0 (default values).
      • --nocheck:Prohibit controlling file checks (building malicious software packages).
      • --root-owner-group:Force the owner and group of the file to be root.
      • --[no-]uniform-compression:Use compression parameters on all members. If specified, uniform compression parameters will be used.
    • -z#:Set the compression level during construction.

    • -Z<type>:Set the compression type used during construction. The allowed types are gzip, xz, zstd, and none.

    • -S<strategy>:Set compression strategy during construction. The allowed values are none, extreme (xz), filtered, Huffman, rle, fixed (gzip).

  • Common commands

    • Extract program files

      xxxxxxxxxx
      dpkg-deb -x hobot-configs_2.2.0-20231030133209_arm64.deb
    • Extract control file

      xxxxxxxxxx
      dpkg-deb -e hobot-configs_2.2.0-20231030133209_arm64.deb hobot-configs/DEBIAN
    • Query the file contents in the deb package

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      dpkg-deb -c hobot-configs_2.2.0-20231030133209_arm64.deb

4. dpkg

Install, create, and manage software packages on a Debian Linux system.

dpkg command is a utility used by Debian Linux systems to install, create, and manage software packages.

  • Grammar explanation

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    dpkg [<option> ...] <command>
  • Command description

    dpkg command not only has options to set, but also requires commands to perform different functions.

    • -i:Install software packages.
    • -r:Delete software packages.
    • -P:Delete software packages while deleting their configuration files.
    • -L:List files belonging to the specified software package.
    • -l:Briefly list the status of the software package.
    • -S:Search for software packages containing specified files.
    • --unpack: Unpack the software package.
    • -c:Display the file list within the software package.
    • --confiugre: Configure software packages.
  • Option description

    • --admindir=Useinstead of/var/lib/dpkg.
    • --root=Install to another root directory.
    • -- instdir=Change the installation directory while keeping the management directory unchanged.
    • -- path exclude=Do not install paths that match Shell expressions.
    • --path include=After excluding a pattern, include another pattern.
    • -O | -- selected only ignores software packages that have not been selected for installation or upgrade.
    • -E | -- skip same version ignores packages with the same version as the installed software version.
    • -G | -- reuse downgrade ignores packages with versions earlier than the installed software version.
    • -B | -- Auto configure needs to be installed even if it affects other software packages.
    • --[no-]triggers Skip or force trigger handling that occurs with it.
    • -- verify format=Check the output format ('rpm 'is supported).
    • --no-debsig does not attempt to verify the signature of the software package.
    • -D | -- debug=Enable debugging (see - DHelp or -- debug=help).
    • --status logger=sends status updates to the standard input of.
    • --log=Update status and operation information to.
    • --ignore pending= Ignore all dependencies related to.
    • --force-... Ignore the problems encountered (see -- force help).
    • --no-force-...|-- Pause when encountering problems.
    • --abort-after encounteringerrors cumulatively.

 

  • Common commands

    • Installation package
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    dpkg -i package.deb
    • Delete package
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    dpkg -r package
    • Delete packages (including configuration files)
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    dpkg -P package
    • List the files associated with the package
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    dpkg -L package
    • Display the version of the package
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    dpkg -l package
    • Unzip the contents of the deb package
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    dpkg --unpack package.deb
    • Search for the content of the package to which it belongs
    xxxxxxxxxx
    dpkg -S keyword
    • List the currently installed packages
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    dpkg -l
    • List the contents of the deb package
    xxxxxxxxxx
    dpkg -c package.deb
    • Configuration package
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    dpkg --configure package

5. find

The find command is used to search for files and directories in a specified directory.

It can use different options to filter and restrict the search results. Any string before the parameter will be considered as the directory name to be searched for. If no parameters are set when using this command, the find command will search for subdirectories and files in the current directory. And display all the subdirectories and files found.

  • Grammar explanation

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      find [-H] [-L] [-P] [-Olevel] [-D debugopts] [path...] [expression]
  • Option description

    path The directory path to be searched can be a single directory or file name, or multiple paths separated by spaces. If no path is specified, it defaults to the current directory.

    expression It is an optional parameter used to specify the search criteria, which can include file name, file type, file size, and so on.

    There are many options available in the expression, and the most commonly used ones are listed below.

    • -name pattern:Search by file name, supporting the use of wildcard characters*and?.
    • -iname pattern:The effect of this parameter is similar to specifying the - name parameter, but ignores the difference in character case;
    • -type type:Search by file type, which can be f(regular file),d(directory),l(symbolic link), etc.
    • -size [+-]size[cwbkMG]:Search by file size, supporting the use of + or - to indicate larger or smaller than a specified size. The units can be c (bytes), w (word count), b (block count), k(KB), M(MB), or G(GB).
    • -mtime days:Search by modification time, supports using + or - to indicate before or after a specified number of days, days is an integer representing the number of days.
    • -user username:Search by file owner.
    • -group groupname:Search by file group.

    The parameters used for time in the find command are as follows.

    • -amin n:Search for files that have been accessed within n minutes.
    • -atime n:Search for files that have been accessed within n*24 hours.
    • -cmin n:Search for files with status changes (such as permissions) within n minutes.
    • -ctime n:Search for files with status changes (such as permissions) within n*24 hours.
    • -mmin n:Search for files that have been modified within n minutes.
    • -mtime n:Search for files that have been modified within n*24 hours.

    Among these parameters, n can be a positive, negative, or zero number.

    Positive numbers indicate files that have been modified or accessed within a specified time.

    Negative numbers indicate files that have been modified or accessed before the specified time.

    Zero indicates files that have been modified or accessed at the current time point.

     

    For example, - mtime 0 indicates searching for files modified today, and - mtime -7indicates searching for files modified a week ago.

    Explanation on the parameter of time n:

    • +n:Search for files or directories that are older than n days ago.
    • -n:Search for files or directories that have changed their properties within n days.
    • n:Find files or directories whose properties have been changed n days ago (specify the day).

 

  • Common commands

    List all files and folders in the current directory and subdirectories

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    find .

    Search for a file named 'file. txt' in the current directory

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    find . -name file.txt

    List all files with the suffix . c in the current directory and its subdirectories

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    find . -name "*.c"

    Same as above, but ignoring capitalization

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    find . -iname "*.c"

    List all files in the current directory and its subdirectories

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    find . -type f

    Search for files larger than 1MB in the/home directory

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    find . -size +1M

    Search for files smaller than 10KB

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    find . -type f -size -10k

    Search for files equal to 10KB

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    find . -type f -size 10k
    • File size unit:

      • b —— Block (512 bytes)
      • c —— Byte
      • w —— Word(2 bytes)
      • k —— kilobyte
      • M —— megabyte
      • G —— Gigabyte

    Search for files in/var/log directory that were modified 7 days ago.

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    find /var/log -mtime +7

    List all files in the current directory and its subdirectories that have been updated in the last 20 days.

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    find . -ctime  20

    List all files updated 20 days ago or earlier in the previous directory and its subdirectories.

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    find . -ctime  +20

    List all files updated within the last 20 days in the current directory and its subdirectories.

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    find . -ctime  20

    Search for regular files in the/var/log directory that have been changed before the 7th, and ask them before deleting them.

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    find /var/log -type f -mtime +7 -ok rm {} \;

    Find files in the current directory that belong to the owner with read and write permissions, and whose group users and other users have read permissions.

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    find . -type f -perm 644 -exec ls -l {} \;

    Find all regular files with a length of 0 in the system and list their complete paths.

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    find / -type f -size 0 -exec ls -l {} \;

    Search for all files ending in. txt and. pdf in the current directory and subdirectories.

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    find . \( -name "*.txt" -o -name "*.pdf" \)
    Or 
    find . -name "*.txt" -o -name "*.pdf"

    Match file path or file.

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    find /usr/ -path "*local*"

    Matching file paths based on regular expressions.

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    find . -regex ".*\(\.txt\|\.pdf\)$"

    Same as above, but ignoring capitalization.

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    find . -iregex ".*\(\.txt\|\.pdf\)$"

    Negative parameter, find files under/home that do not end in. txt.

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    find /home ! -name "*.txt"

    Search by file type.

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    find . -type Type parameter
    • Type parameter list

      • f Regular file
      • l Symbol connection
      • d Directory
      • c Character device
      • b Block device
      • s Socket
      • p Fifo

     

    Based on directory depth search, the maximum downward depth limit is 3

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    find . -maxdepth 3 -type f

    Search for all files with a depth distance of at least 2 subdirectories from the current directory

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    find . -mindepth 2 -type f

    Delete all .logfiles in the current directory.

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    find . -type f -name "*.log" -delete

    Search for a file with permission 777 in the current directory

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    find . -type f -perm 777

    Find the . conf file in the current directory with permissions other than 644

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    find . -type f -name "*.conf" ! -perm 644

    Find all files owned by the current directory user sunrise

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    find . -type f -user sunrise

    Find all files owned by the current directory user group sunrise

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    find . -type f -group sunrise

    Find all root files in the current directory and change the ownership to user sunrise

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    find .-type f -user root -exec chown sunrise {} \;

    In the example above, {} is used in combination with the -exec option to match all files, which are then replaced with the appropriate file name.

    Find all the .txtfiles in thehomedirectory and delete them.

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    find $HOME/. -name "*.txt" -ok rm {} \;

     

    In the above example, the behavior of - ok and - executive is the same, but it will give a prompt whether to perform the corresponding operation.

    Search for all . txt files in the current directory and concatenate them to write them into the all. txtfile

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    find . -type f -name "*.txt" -exec cat {} \;> /all.txt

    Search for all. txt files in the current directory or subdirectories, but skip subdirectories sk

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    find . -path "./sk" -prune -o -name "*.txt" -print

    ⚠️ ./sk cannot be written as./sk/; otherwise, it has no effect.

    Ignore two directories

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    find . \( -path ./sk -o  -path ./st \) -prune -o -name "*.txt" -print

    ⚠️ If writing relative path must add ./

    To list all files of zero length.

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    find . -empty

    Count lines of code

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    find . -name "*.c"|xargs cat|grep -v ^$|wc -l # Code line count, excluding empty lines

6. grep command

Powerful text search tool.

Grep (global search regular expression (RE) and print out the line) is a powerful text search tool that can use regular expressions to search for text and print out matching lines. Specific characters used for filtering/searching. Regular expressions can be used in conjunction with various commands, making them very flexible to use.

Similar commands include egrep, fgrep, and rgrep.

  • Grammar specification

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      grep [OPTION]... PATTERNS [FILE]...
      grep [OPTION...] PATTERNS [FILE...]
      grep [OPTION...] -e PATTERNS ... [FILE...]
      grep [OPTION...] -f PATTERN_FILE ... [FILE...]
    • PATTERNS - Indicates the string or regular expression to look for.
    • FILE - Indicates the FILE name to be searched. Multiple files can be searched at the same time. If the 'file' parameter is omitted, the data is read from the standard input by default.

 

  • Option description

    Common options description:

    • -i:Ignore case for matching.
    • -v:Reverse lookup, printing only rows that do not match.
    • -n:Displays the line number of the matching row.
    • -r:Find files in subdirectories recursively.
    • -l:Only matching filenames are printed.
    • -c:Only the number of matching lines is printed.

    More Parameter Description

    • -a or -- text : Do not ignore binary data.
    • -Aor -- after context= : In addition to displaying the column that conforms to the template style, display the content after that row.
    • - b or -- byte off set : Before displaying the line that conforms to the style, indicate the number of the first character of that line.
    • -Bor -- before content= : Display the content before the line, in addition to the line that matches the style.
    • -c or -- count: Calculate the number of columns that match the style.
    • -Cor -- context=or -: In addition to displaying the line that conforms to the style, display the content before and after that line.
    • -dor -- directories= : This parameter must be used when specifying that the search is for a directory rather than a file, otherwise the grep directive will report information and stop the action.
    • -e