服务器安装 ros2时遇到底层库依赖冲突的问题

近期工作需要用到ros2, 所以在一台服务器上准备安装ros2, 先按照官网走安装流程

参考： Ubuntu (deb packages) --- ROS 2 Documentation: Humble documentation

设置utf-8

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locale  # check for UTF-8

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

locale  # verify settings

添加ros2 apt软件源并下载ros2-apt-source、解压缩

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sudo apt install software-properties-common
sudo add-apt-repository universe

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sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
sudo dpkg -i /tmp/ros2-apt-source.deb

更新软件源：

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sudo apt update
sudo apt upgrade

安装ros：

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sudo apt install ros-humble-desktop

遇到报错：

在更新软件源后修复：

备份当前源

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sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

修改/etc/apt/sources.list 文件为：

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deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse

更新并重新安装：

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sudo apt update

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sudo apt install ros-humble-desktop

即可完成ros2在linux下的环境配置，测试：