Ubuntu22.04搭建ROS2运行环境

区域语言设置

设置区域语言为US

sudo apt update

sudo apt install locales

sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8

必备软件组件

如果已经安装，可以跳过这一步骤

sudo apt update

sudo apt-get install -y libyaml-cpp-dev

sudo apt-get install -y  libpcap-dev

sudo apt install -y curl gnupg lsb-release

更新远程仓库源

更新/etc/hosts文件，防止raw.githubusercontent.com被墙，可以通过nslookup命令查看域名服务器地址

185.199.110.133	raw.githubusercontent.com
185.199.110.133 user-images.githubusercontent.com
185.199.110.133 avatars2.githubusercontent.com
185.199.100.133 avatars1.githubusercontent.com
20.205.243.166  github.com

如果已经添加过源，这一步也可以跳过

sudo curl -sSL http://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

安装humble

桌面版和基础版二选一

1 2	sudo apt install ros-humble-desktop # 桌面版 sudo apt install ros-humble-ros-base # 基础版

安装软件包

colcon和libbackward-ros都安装一下

1 2	sudo apt-get install python3-colcon-common-extensions sudo apt-get install -y ros-humble-backward-ros

验证ROS2

借用小乌龟来验证是否成功，humble版本如果没有预装turtlesim的话请事先安装

1	sudo apt install ros-humble-turtlesim

运行turtlesim_node和turtle_teleop_key两个节点

1
2
3

source /opt/ros/humble/setup.bash
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

控制效果

完全卸载

如果你不想用humble这个版本，请用以下命令卸载干净

1	sudo apt-get autoremove --purge ros-humble-desktop

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