Ubuntu 22.04 系统中 ROS2安装

ROS2安装

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# 多窗口终端工具
sudo apt update
sudo apt install tilix

打开软件，点击右上角图标进入设置 -> General -> size120, columns:48
Command -> 勾选第一个 Run command as login shell
Color -> Theme Color 选择 Monokai Dark

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sudo apt install python3-pip

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# 设置地区语言:en-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

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# 添加 universe 仓库
sudo apt install software-properties-common
sudo add-apt-repository universe

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# 安装资源下载(curl)与密钥转换(gnupg2)依赖包
sudo apt update && sudo apt install curl gnupg2 -y

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# 下载公钥，可能需要手动添加到系统
sudo curl -sSL https://gitee.com/tyx6/rosdistro/raw/master/ros.key -o /etc/apt/trusted.gpg.d/ros.gpg

通过 Import Key File 手动添加

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# 添加ros2安装包源
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/trusted.gpg.d/ros.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

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# 如果安装出错，提示缺少python 的qt库，可以执行这一步试试
sudo apt --fix-broken install

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# （可选项）安装ros开发工具
sudo apt update && sudo apt install ros-dev-tools

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# 安装开发工具ros2软件
sudo apt update && sudo apt upgrade
# sudo apt install ros-<ros-distro>-desktop, 例如 iron
sudo apt install ros-iron-desktop

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# 配置环境
echo """
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/iron/setup.bash
""" >> ~/.bashrc

测试

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source /opt/ros/iron/setup.bash
ros2 run demo_nodes_cpp talker

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source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener

卸载

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# 查看环境
printenv | grep -i ROS

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sudo apt remove ~nros-iron-* && sudo apt autoremove

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sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade