1、设置编码
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
2、hosts文件中添加域名解析
vim /etc/hosts
199.232.96.133 raw.githubusercontent.com
199.232.96.133 raw.github.com
3、设置软件源
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
4、安装ros2安装包
sudo apt update
sudo apt install ros-humble-desktop
注意:
此处以Ubuntu22.04下安装ROS2 Humble为例,如使用Ubuntu 20.04,请将"humble"改为"foxy。
或者安装基础版
sudo apt install ros-humble-ros-base
apt-get update
5、然后我们还需要安装编译工具colcon
sudo apt install python3-colcon-common-extensions
6、设置环境变量
source /opt/ros/humble/setup.bash
7、安装自动补全工具
sudo apt install python3-argcomplete
8、验证
跑几个例程测试一下: 先运行一个talker:
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker
再运行一个Listener
source /opt/ros/humble/setup.bash
ros2 run demo_nodes_py listener
问题一:
Failed to connect to raw.githubusercontent.com port 443: Connection refused
解决办法:通过修改hosts解决此问题。
查询真实IP:
查询raw.githubusercontent.com和raw.github.com的真实IP。
修改hosts:
sudo vim /etc/hosts
添加如下内容:
199.232.96.133 raw.githubusercontent.com
199.232.96.133 raw.github.com
更多参考:https://blog.csdn.net/xiaxinkai/article/details/112975134
https://blog.csdn.net/weixin_45367061/article/details/122678266