Ubuntu22.04安装ROS2

独鹿2024-09-12 12:06

1.设置 ROS 2 的软件包源

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sudo apt update
sudo apt install -y curl gnupg2 lsb-release

2.添加ROS2源

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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64] https://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list'

3.安装ROS2

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sudo apt update
sudo apt install -y ros-humble-desktop

注意：可能会报错https://packages.ros.org/ros2/ubuntu jammy InRelease

Certificate verification failed: The certificate is NOT trusted. The name in the certificate does not match the expected. Could not handshake: Error in the certificate verification

解决方法：

1）进入文件夹 : cd /etc/apt/sources.list.d

2)打开文件： sudo vim ros2.list

3)将https改为http 后保存。重新执行以上代码

4.设置环境变量

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echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

5.安装开发工具

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sudo apt install -y python3-colcon-common-extensions

6.查看版本

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echo $ROS_DISTRO

7.创建一个ros2工作区

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mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build
source install/setup.bash

8.运行一个示例

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sudo apt-get install ros-humble-demo-nodes-cpp
ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_cpp listener

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参考：Ubuntu (source) --- ROS 2 Documentation: Rolling documentation