接前一篇文章：ROS2从入门到精通（9）
本文内容参考：
《ROS机器人开发实践》 胡春旭 编著 机械工业出版社
《精通ROS机器人编程》 郎坦·约瑟夫 乔纳森·卡卡切 著 吴中红 石章松 程锦房 刘彩云 译 机械工业出版社
《ROS机器人项目开发11例》 拉姆库玛·甘地那坦 郎坦·约瑟夫 著 潘丽 陈媛媛 徐茜 吴中红 译 机械工业出版社
【古月居】古月·ROS2入门21讲 | 带你认识一个全新的机器人操作系统_哔哩哔哩_bilibili
特此致谢！
二、ROS2安装
2. 安装ROS2
（3）安装
在添加了软件源之后，接下来可以正式安装ROS 2了。
总体命令如下：
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
1）sudo apt update
实际命令及结果如下：
bash
ph@ph-virtual-machine:~$ sudo apt update
[sudo] password for ph:
Get:1 http://security.ubuntu.com/ubuntu jammy-security InRelease [129 kB]
Get:2 http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B]
Hit:3 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy InRelease
Get:4 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-updates InRelease [128 kB]
Get:6 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages [1,867 kB]
Hit:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-backports InRelease
Get:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-updates/main i386 Packages [1,113 kB]
Get:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-updates/main amd64 Packages [3,979 kB]
Get:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-updates/universe amd64 Packages [1,291 kB]
Get:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu jammy-updates/universe i386 Packages [825 kB]
Fetched 9,337 kB in 2min 13s (70.4 kB/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
21 packages can be upgraded. Run 'apt list --upgradable' to see them.
ph@ph-virtual-machine:~$ sudo apt update命令前文书已经讲过，参见ROS2从入门到精通（7）-CSDN博客：
之前步骤生成了/etc/apt/sources.list.d/ros2.list文件（参见ROS2从入门到精通（9）-CSDN博客），因此现在需要重新update一下。
bash
$ ls /etc/apt/sources.list.d/
ros2.list
也就是说，现在再次执行此命令，会从前述步骤新加的ROS 2软件源中获取所有ROS 2软件对应的下载地址。
2）sudo apt upgrade
实际命令及结果如下（内容较长，截取部分）：
bash
ph@ph-virtual-machine:~$ sudo apt upgrade
[sudo] password for ph:
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
The following packages were automatically installed and are no longer required:
libfwupd2 libfwupdplugin5 libgcab-1.0-0 libsmbios-c2
Use 'sudo apt autoremove' to remove them.
The following packages have been kept back:
distro-info python3-distro-info
The following packages will be upgraded:
gir1.2-gst-plugins-base-1.0 gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-plugins-base gstreamer1.0-plugins-base-apps gstreamer1.0-plugins-good
gstreamer1.0-pulseaudio gstreamer1.0-x hplip hplip-data libgstreamer-gl1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer-plugins-good1.0-0 libhpmud0 libsane-hpaio
printer-driver-hpcups printer-driver-postscript-hp snapd
19 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.
18 standard LTS security updates
Need to get 23.2 MB/35.7 MB of archives.
After this operation, 37.0 MB disk space will be freed.
Do you want to continue? [Y/n] y
Get:1 http://cn.archive.ubuntu.com/ubuntu jammy-updates/main amd64 snapd amd64 2.78+ubuntu22.04 [23.2 MB]
Fetched 23.2 MB in 5s (4,528 kB/s)
(Reading database ... 204536 files and directories currently installed.)
Preparing to unpack .../00-libgstreamer-plugins-base1.0-0_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking libgstreamer-plugins-base1.0-0:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../01-libgstreamer-gl1.0-0_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking libgstreamer-gl1.0-0:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../02-gir1.2-gst-plugins-base-1.0_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gir1.2-gst-plugins-base-1.0:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../03-gstreamer1.0-alsa_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gstreamer1.0-alsa:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../04-gstreamer1.0-gl_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gstreamer1.0-gl:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../05-gstreamer1.0-gtk3_1.20.3-0ubuntu1.11_amd64.deb ...
Unpacking gstreamer1.0-gtk3:amd64 (1.20.3-0ubuntu1.11) over (1.20.3-0ubuntu1.10) ...
Preparing to unpack .../06-gstreamer1.0-plugins-base_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gstreamer1.0-plugins-base:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../07-gstreamer1.0-plugins-base-apps_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gstreamer1.0-plugins-base-apps (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../08-gstreamer1.0-plugins-good_1.20.3-0ubuntu1.11_amd64.deb ...
Unpacking gstreamer1.0-plugins-good:amd64 (1.20.3-0ubuntu1.11) over (1.20.3-0ubuntu1.10) ...
Preparing to unpack .../09-libgstreamer-plugins-good1.0-0_1.20.3-0ubuntu1.11_amd64.deb ...
Unpacking libgstreamer-plugins-good1.0-0:amd64 (1.20.3-0ubuntu1.11) over (1.20.3-0ubuntu1.10) ...
Preparing to unpack .../10-gstreamer1.0-pulseaudio_1.20.3-0ubuntu1.11_amd64.deb ...
Unpacking gstreamer1.0-pulseaudio:amd64 (1.20.3-0ubuntu1.11) over (1.20.3-0ubuntu1.10) ...
Preparing to unpack .../11-gstreamer1.0-x_1.20.1-1ubuntu0.8_amd64.deb ...
Unpacking gstreamer1.0-x:amd64 (1.20.1-1ubuntu0.8) over (1.20.1-1ubuntu0.7) ...
Preparing to unpack .../12-printer-driver-postscript-hp_3.21.12+dfsg0-1ubuntu0.3_amd64.deb ...
Unpacking printer-driver-postscript-hp (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../13-libsane-hpaio_3.21.12+dfsg0-1ubuntu0.3_amd64.deb ...
Unpacking libsane-hpaio:amd64 (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../14-hplip_3.21.12+dfsg0-1ubuntu0.3_amd64.deb ...
Unpacking hplip (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../15-libhpmud0_3.21.12+dfsg0-1ubuntu0.3_amd64.deb ...
Unpacking libhpmud0:amd64 (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../16-hplip-data_3.21.12+dfsg0-1ubuntu0.3_all.deb ...
Unpacking hplip-data (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../17-printer-driver-hpcups_3.21.12+dfsg0-1ubuntu0.3_amd64.deb ...
Unpacking printer-driver-hpcups (3.21.12+dfsg0-1ubuntu0.3) over (3.21.12+dfsg0-1ubuntu0.1) ...
Preparing to unpack .../18-snapd_2.78+ubuntu22.04_amd64.deb ...
Unpacking snapd (2.78+ubuntu22.04) over (2.77.1+ubuntu22.04.1) ...
......
......
snapd.failure.service is a disabled or a static unit not running, not starting it.
snapd.gpio-chardev-setup.target is a disabled or a static unit not running, not starting it.
snapd.snap-repair.service is a disabled or a static unit not running, not starting it.
Setting up hplip-data (3.21.12+dfsg0-1ubuntu0.3) ...
Setting up libgstreamer-plugins-base1.0-0:amd64 (1.20.1-1ubuntu0.8) ...
Setting up printer-driver-postscript-hp (3.21.12+dfsg0-1ubuntu0.3) ...
Setting up libgstreamer-plugins-good1.0-0:amd64 (1.20.3-0ubuntu1.11) ...
Setting up libgstreamer-gl1.0-0:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-plugins-base:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-plugins-base-apps (1.20.1-1ubuntu0.8) ...
Setting up libhpmud0:amd64 (3.21.12+dfsg0-1ubuntu0.3) ...
Setting up libsane-hpaio:amd64 (3.21.12+dfsg0-1ubuntu0.3) ...
Installing new version of config file /etc/hp/hplip.conf ...
Setting up gstreamer1.0-gl:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-x:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-alsa:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-plugins-good:amd64 (1.20.3-0ubuntu1.11) ...
Setting up gir1.2-gst-plugins-base-1.0:amd64 (1.20.1-1ubuntu0.8) ...
Setting up gstreamer1.0-gtk3:amd64 (1.20.3-0ubuntu1.11) ...
Setting up printer-driver-hpcups (3.21.12+dfsg0-1ubuntu0.3) ...
Setting up gstreamer1.0-pulseaudio:amd64 (1.20.3-0ubuntu1.11) ...
Setting up hplip (3.21.12+dfsg0-1ubuntu0.3) ...
Creating/updating hplip user account...
Processing triggers for cups (2.4.1op1-1ubuntu4.21) ...
Processing triggers for gnome-menus (3.36.0-1ubuntu3) ...
Processing triggers for libc-bin (2.35-0ubuntu3.15) ...
Processing triggers for man-db (2.10.2-1) ...
Processing triggers for dbus (1.12.20-2ubuntu4.1) ...
Processing triggers for mailcap (3.70+nmu1ubuntu1.22.04.1) ...
Processing triggers for desktop-file-utils (0.26-1ubuntu3) ...
ph@ph-virtual-machine:~$ 此步骤的功能类比于手机中的软件商城，会不定时地提示有些软件需要更新了，一键就可以完成所有内容的更新。此命令会扫描Ubuntu中现在有哪些软件更新了（有更新的安装包了），进行全部更新，以保持所有软件包的版本是最新的。
3）sudo apt install ros-humble-desktop
ros-humble-desktop是humble的桌面完整版，它会安装ROS 2核心通信机制以及上位机的可视化软件等。
实际命令及结果如下（内容很长，截取一小部分）：
bash
ph@ph-virtual-machine:~$ sudo apt install ros-humble-desktop
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following packages were automatically installed and are no longer required:
libfwupd2 libfwupdplugin5 libgcab-1.0-0 libsmbios-c2
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:
autoconf automake autotools-dev binutils binutils-common binutils-x86-64-linux-gnu blt build-essential ca-certificates-java catch2 cmake cmake-data cppcheck default-jdk
default-jdk-headless default-jre default-jre-headless default-libmysqlclient-dev dh-elpa-helper docutils-common dpkg-dev fakeroot fonts-dejavu-extra fonts-lyx freeglut3 g++
g++-11 gcc gcc-11 gdal-data gfortran gfortran-11 google-mock googletest graphviz hdf5-helpers i965-va-driver ibverbs-providers icu-devtools intel-media-va-driver java-common
javascript-common libaacs0 libaec-dev libaec0 libalgorithm-diff-perl libalgorithm-diff-xs-perl libalgorithm-merge-perl libann0 libaom-dev libaom3 libarmadillo-dev
libarmadillo10 libarpack2 libarpack2-dev libasan6 libasound2-dev libassimp-dev libassimp5 libatk-wrapper-java libatk-wrapper-java-jni libavcodec-dev libavcodec58
libavformat-dev libavformat58 libavutil-dev libavutil56 libbdplus0 libbinutils libblas-dev libblas3 libblkid-dev libblosc-dev libblosc1 libbluray2 libboost-all-dev
libboost-atomic-dev libboost-atomic1.74-dev libboost-atomic1.74.0 libboost-chrono-dev libboost-chrono1.74-dev libboost-chrono1.74.0 libboost-container-dev
libboost-container1.74-dev libboost-container1.74.0 libboost-context-dev libboost-context1.74-dev libboost-context1.74.0 libboost-coroutine-dev libboost-coroutine1.74-dev
libboost-coroutine1.74.0 libboost-date-time-dev libboost-date-time1.74-dev libboost-date-time1.74.0 libboost-dev libboost-exception-dev libboost-exception1.74-dev
libboost-fiber-dev libboost-fiber1.74-dev libboost-fiber1.74.0 libboost-filesystem-dev libboost-filesystem1.74-dev libboost-graph-dev libboost-graph-parallel-dev
libboost-graph-parallel1.74-dev libboost-graph-parallel1.74.0 libboost-graph1.74-dev libboost-graph1.74.0 libboost-iostreams-dev libboost-iostreams1.74-dev libboost-locale-dev
libboost-locale1.74-dev libboost-log-dev libboost-log1.74-dev libboost-log1.74.0 libboost-math-dev libboost-math1.74-dev libboost-math1.74.0 libboost-mpi-dev
libboost-mpi-python-dev libboost-mpi-python1.74-dev libboost-mpi-python1.74.0 libboost-mpi1.74-dev libboost-mpi1.74.0 libboost-nowide-dev libboost-nowide1.74-dev
libboost-nowide1.74.0 libboost-numpy-dev libboost-numpy1.74-dev libboost-numpy1.74.0 libboost-program-options-dev libboost-program-options1.74-dev
libboost-program-options1.74.0 libboost-python-dev libboost-python1.74-dev libboost-python1.74.0 libboost-random-dev libboost-random1.74-dev libboost-random1.74.0
libboost-regex-dev libboost-regex1.74-dev libboost-serialization-dev libboost-serialization1.74-dev libboost-serialization1.74.0 libboost-stacktrace-dev
libboost-stacktrace1.74-dev libboost-stacktrace1.74.0 libboost-system-dev libboost-system1.74-dev libboost-system1.74.0 libboost-test-dev libboost-test1.74-dev
libboost-test1.74.0 libboost-thread-dev libboost-thread1.74-dev libboost-timer-dev libboost-timer1.74-dev libboost-timer1.74.0 libboost-tools-dev libboost-type-erasure-dev
libboost-type-erasure1.74-dev libboost-type-erasure1.74.0 libboost-wave-dev libboost-wave1.74-dev libboost-wave1.74.0 libboost1.74-dev libboost1.74-tools-dev libbrotli-dev
libbullet-dev libbullet3.06 libc-dev-bin libc-devtools libc6-dev libcaf-openmpi-3 libcc1-0 libcdt5 libcfitsio-dev libcfitsio-doc libcfitsio9 libcgraph6 libcharls-dev libcharls2
libchromaprint1 libclang1-14 libcoarrays-dev libcoarrays-openmpi-dev libcodec2-1.0 libconsole-bridge-dev libconsole-bridge1.0 libcrypt-dev libctf-nobfd0 libctf0
libcurl4-openssl-dev libdav1d-dev libdav1d5 libdbus-1-dev libdc1394-25 libdc1394-dev libde265-0 libde265-dev libdecor-0-0 libdecor-0-dev libdecor-0-plugin-1-cairo
libdeflate-dev libdouble-conversion-dev libdouble-conversion3 libdpkg-perl libdraco-dev libdraco4 libdrm-dev libegl-dev libegl1-mesa-dev libeigen3-dev libevent-core-2.1-7
libevent-dev libevent-extra-2.1-7 libevent-openssl-2.1-7 libevent-pthreads-2.1-7 libexif-dev libexif-doc libexpat1-dev libfabric1 libfakeroot libffi-dev libfile-fcntllock-perl
libflann-dev libflann1.9 libfmt-dev libfmt8 libfontconfig-dev libfontconfig1-dev libfreetype-dev libfreetype6-dev libfreexl-dev libfreexl1 libfyba-dev libfyba0 libgbm-dev
libgcc-11-dev libgdal-dev libgdal30 libgdcm-dev libgdcm3.0 libgeos-c1v5 libgeos-dev libgeos3.10.2 libgeotiff-dev libgeotiff5 libgfortran-11-dev libgfortran5 libgif-dev
libgl-dev libgl1-mesa-dev libgl2ps-dev libgl2ps1.4 libgles-dev libgles1 libglew-dev libglew2.2 libglib2.0-dev libglib2.0-dev-bin libglu1-mesa-dev libglvnd-core-dev libglvnd-dev
libglx-dev libgme0 libgphoto2-dev libgsm1 libgtest-dev libgts-0.7-5 libgts-bin libgvc6 libgvpr2 libhdf4-0-alt libhdf4-alt-dev libhdf5-103-1 libhdf5-cpp-103-1 libhdf5-dev
libhdf5-fortran-102 libhdf5-hl-100 libhdf5-hl-cpp-100 libhdf5-hl-fortran-100 libhdf5-mpi-dev libhdf5-openmpi-103-1 libhdf5-openmpi-cpp-103-1 libhdf5-openmpi-dev
libhdf5-openmpi-fortran-102 libhdf5-openmpi-hl-100 libhdf5-openmpi-hl-cpp-100 libhdf5-openmpi-hl-fortran-100 libheif-dev libheif1 libhwloc-dev libhwloc-plugins libhwloc15
libibus-1.0-dev libibverbs-dev libibverbs1 libice-dev libicu-dev libigdgmm12 libignition-cmake2-dev libignition-math6 libignition-math6-dev libilmbase-dev libilmbase25 libitm1
libjbig-dev libjpeg-dev libjpeg-turbo8-dev libjpeg8-dev libjs-jquery libjs-jquery-ui libjs-sphinxdoc libjs-underscore libjson-c-dev libjsoncpp-dev libjsoncpp25 libkml-dev
libkmlbase1 libkmlconvenience1 libkmldom1 libkmlengine1 libkmlregionator1 libkmlxsd1 liblab-gamut1 liblapack-dev liblapack3 liblbfgsb0 liblept5 libllvm14 liblsan0 libltdl-dev
liblz4-dev liblzma-dev libmd4c0 libmfx1 libminizip-dev libminizip1 libmount-dev libmysqlclient-dev libmysqlclient21 libnetcdf-c++4 libnetcdf-cxx-legacy-dev libnetcdf-dev
libnetcdf19 libnl-3-dev libnl-route-3-dev libnorm1 libnsl-dev libnuma-dev libodbc2 libodbccr2 libodbcinst2 libogdi-dev libogdi4.1 libogg-dev libopencv-calib3d-dev
libopencv-calib3d4.5d libopencv-contrib-dev libopencv-contrib4.5d libopencv-core-dev libopencv-core4.5d libopencv-dev libopencv-dnn-dev libopencv-dnn4.5d
libopencv-features2d-dev libopencv-features2d4.5d libopencv-flann-dev libopencv-flann4.5d libopencv-highgui-dev libopencv-highgui4.5d libopencv-imgcodecs-dev
libopencv-imgcodecs4.5d libopencv-imgproc-dev libopencv-imgproc4.5d libopencv-ml-dev libopencv-ml4.5d libopencv-objdetect-dev libopencv-objdetect4.5d libopencv-photo-dev
libopencv-photo4.5d libopencv-shape-dev libopencv-shape4.5d libopencv-stitching-dev libopencv-stitching4.5d libopencv-superres-dev libopencv-superres4.5d libopencv-video-dev
libopencv-video4.5d libopencv-videoio-dev libopencv-videoio4.5d libopencv-videostab-dev libopencv-videostab4.5d libopencv-viz-dev libopencv-viz4.5d libopencv4.5-java
libopencv4.5d-jni libopenexr-dev libopenexr25 libopengl-dev libopenjp2-7-dev libopenmpi-dev libopenmpi3 libopenmpt0 libopenni-dev libopenni-sensor-pointclouds0 libopenni0
libopenni2-0 libopenni2-dev liborocos-kdl-dev liborocos-kdl1.5 libpathplan4 libpciaccess-dev libpcl-apps1.12 libpcl-common1.12 libpcl-dev libpcl-features1.12 libpcl-filters1.12
libpcl-io1.12 libpcl-kdtree1.12 libpcl-keypoints1.12 libpcl-ml1.12 libpcl-octree1.12 libpcl-outofcore1.12 libpcl-people1.12 libpcl-recognition1.12 libpcl-registration1.12
libpcl-sample-consensus1.12 libpcl-search1.12 libpcl-segmentation1.12 libpcl-stereo1.12 libpcl-surface1.12 libpcl-tracking1.12 libpcl-visualization1.12 libpcre16-3
libpcre2-16-0 libpcre2-dev libpcre2-posix3 libpcre3-dev libpcre32-3 libpcrecpp0v5 libpgm-5.3-0 libpmix-dev libpmix2 libpng-dev libpng-tools libpoppler-dev
libpoppler-private-dev libpq-dev libpq5 libproj-dev libproj22 libpsm-infinipath1 libpsm2-2 libpthread-stubs0-dev libpulse-dev libpyside2-dev libpyside2-py3-5.15 libpython3-dev
libpython3.10-dev libqhull-dev libqhull-r8.0 libqhull8.0 libqhullcpp8.0 libqt5concurrent5 libqt5core5a libqt5dbus5 libqt5designer5 libqt5designercomponents5 libqt5gui5
libqt5help5 libqt5network5 libqt5opengl5 libqt5opengl5-dev libqt5positioning5 libqt5printsupport5 libqt5qml5 libqt5qmlmodels5 libqt5qmlworkerscript5 libqt5quick5
libqt5quickparticles5 libqt5quickshapes5 libqt5quicktest5 libqt5quickwidgets5 libqt5sensors5 libqt5sql5 libqt5sql5-sqlite libqt5svg5 libqt5test5 libqt5webchannel5 libqt5webkit5
libqt5webkit5-dev libqt5widgets5 libqt5xml5 libquadmath0 librabbitmq4 libraw1394-dev libraw1394-tools librdmacm1 librhash0 librttopo-dev librttopo1 libsdl2-2.0-0 libsdl2-dev
libselinux1-dev libsepol-dev libshiboken2-dev libshiboken2-py3-5.15 libshine3 libsigsegv2 libsm-dev libsnappy1v5 libsndio-dev libsndio7.0 libsocket++1 libspatialite-dev
libspatialite7 libspdlog-dev libspdlog1 libsqlite3-dev libsrt1.4-gnutls libssh-gcrypt-4 libssl-dev libstdc++-11-dev libsuperlu-dev libsuperlu5 libswresample-dev libswresample3
libswscale-dev libswscale5 libsz2 libtbb-dev libtbb12 libtbb2 libtbbmalloc2 libtesseract4 libtheora-dev libtiff-dev libtiffxx5 libtinyxml-dev libtinyxml2-9 libtinyxml2-dev
libtinyxml2.6.2v5 libtirpc-dev libtk8.6 libtool libtsan0 libubsan1 libucx0 libudev-dev libudfread0 liburiparser-dev liburiparser1 libusb-1.0-0-dev libusb-1.0-doc libutfcpp-dev
libva-drm2 libva-x11-2 libva2 libvdpau1 libvtk9-dev libvtk9-java libvtk9-qt-dev libvtk9.1 libvtk9.1-qt libvulkan-dev libwayland-bin libwayland-dev libwebp-dev libx11-dev
libx264-163 libx265-199 libx265-dev libxau-dev libxaw7-dev libxcb-xinerama0 libxcb-xinput0 libxcb1-dev libxcursor-dev libxdmcp-dev libxerces-c-dev libxerces-c3.2 libxext-dev
libxfixes-dev libxft-dev libxi-dev libxinerama-dev libxkbcommon-dev libxml2-dev libxml2-utils libxmu-dev libxmu-headers libxnvctrl0 libxpm-dev libxrandr-dev libxrender-dev
libxsimd-dev libxss-dev libxt-dev libxv-dev libxvidcore4 libxxf86vm-dev libyaml-cpp-dev libyaml-cpp0.7 libyaml-dev libz3-4 libzmq5 libzstd-dev libzvbi-common libzvbi0
linux-libc-dev lto-disabled-list m4 make manpages-dev mesa-va-drivers mesa-vdpau-drivers mpi-default-bin mpi-default-dev mysql-common ocl-icd-libopencl1 opencv-data
openjdk-11-jdk openjdk-11-jdk-headless openjdk-11-jre openjdk-11-jre-headless openmpi-bin openmpi-common openni-utils pkg-config proj-bin proj-data pybind11-dev pydocstyle
pyflakes3 pyqt5-dev python-matplotlib-data python3-appdirs python3-argcomplete python3-attr python3-beniget python3-brotli python3-bs4 python3-catkin-pkg-modules python3-cycler
python3-decorator python3-dev python3-distutils python3-docutils python3-empy python3-flake8 python3-fonttools python3-fs python3-gast python3-html5lib python3-iniconfig
python3-kiwisolver python3-lark python3-lxml python3-lz4 python3-matplotlib python3-mccabe python3-mpi4py python3-mpmath python3-numpy python3-opencv python3-packaging
python3-pil.imagetk python3-pluggy python3-ply python3-psutil python3-py python3-pycodestyle python3-pydocstyle python3-pydot python3-pyflakes python3-pygments python3-pykdl
python3-pyqt5 python3-pyqt5.qtsvg python3-pyqt5.sip python3-pyside2.qtcore python3-pyside2.qtgui python3-pyside2.qtsvg python3-pyside2.qtwidgets python3-pytest python3-pythran
python3-roman python3-rosdistro-modules python3-rospkg-modules python3-scipy python3-setuptools python3-sip python3-sip-dev python3-snowballstemmer python3-soupsieve
python3-sympy python3-tk python3-toml python3-ufolib2 python3-unicodedata2 python3-vtk9 python3-webencodings python3.10-dev qdoc-qt5 qhelpgenerator-qt5 qt5-assistant
qt5-gtk-platformtheme qt5-qmake qt5-qmake-bin qt5-qmltooling-plugins qtattributionsscanner-qt5 qtbase5-dev qtbase5-dev-tools qtchooser qtdeclarative5-dev
qtdeclarative5-dev-tools qttools5-dev qttools5-dev-tools qttools5-private-dev qttranslations5-l10n ros-humble-action-msgs ros-humble-action-tutorials-cpp
ros-humble-action-tutorials-interfaces ros-humble-action-tutorials-py ros-humble-actionlib-msgs ros-humble-ament-cmake ros-humble-ament-cmake-auto
ros-humble-ament-cmake-copyright ros-humble-ament-cmake-core ros-humble-ament-cmake-cppcheck ros-humble-ament-cmake-cpplint ros-humble-ament-cmake-export-definitions
ros-humble-ament-cmake-export-dependencies ros-humble-ament-cmake-export-include-directories ros-humble-ament-cmake-export-interfaces ros-humble-ament-cmake-export-libraries
ros-humble-ament-cmake-export-link-flags ros-humble-ament-cmake-export-targets ros-humble-ament-cmake-flake8 ros-humble-ament-cmake-gen-version-h ros-humble-ament-cmake-gmock
ros-humble-ament-cmake-gtest ros-humble-ament-cmake-include-directories ros-humble-ament-cmake-libraries ros-humble-ament-cmake-lint-cmake ros-humble-ament-cmake-pep257
ros-humble-ament-cmake-pytest ros-humble-ament-cmake-python ros-humble-ament-cmake-ros ros-humble-ament-cmake-target-dependencies ros-humble-ament-cmake-test
ros-humble-ament-cmake-uncrustify ros-humble-ament-cmake-version ros-humble-ament-cmake-xmllint ros-humble-ament-copyright ros-humble-ament-cppcheck ros-humble-ament-cpplint
ros-humble-ament-flake8 ros-humble-ament-index-cpp ros-humble-ament-index-python ros-humble-ament-lint ros-humble-ament-lint-auto ros-humble-ament-lint-cmake
ros-humble-ament-lint-common ros-humble-ament-package ros-humble-ament-pep257 ros-humble-ament-uncrustify ros-humble-ament-xmllint ros-humble-angles
ros-humble-builtin-interfaces ros-humble-class-loader ros-humble-common-interfaces ros-humble-composition ros-humble-composition-interfaces ros-humble-console-bridge-vendor
ros-humble-cv-bridge ros-humble-demo-nodes-cpp ros-humble-demo-nodes-cpp-native ros-humble-demo-nodes-py ros-humble-depthimage-to-laserscan ros-humble-diagnostic-msgs
ros-humble-domain-coordinator ros-humble-dummy-map-server ros-humble-dummy-robot-bringup ros-humble-dummy-sensors ros-humble-eigen3-cmake-module ros-humble-example-interfaces
ros-humble-examples-rclcpp-minimal-action-client ros-humble-examples-rclcpp-minimal-action-server ros-humble-examples-rclcpp-minimal-client
ros-humble-examples-rclcpp-minimal-composition ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-service
ros-humble-examples-rclcpp-minimal-subscriber ros-humble-examples-rclcpp-minimal-timer ros-humble-examples-rclcpp-multithreaded-executor ros-humble-examples-rclpy-executors
ros-humble-examples-rclpy-minimal-action-client ros-humble-examples-rclpy-minimal-action-server ros-humble-examples-rclpy-minimal-client
ros-humble-examples-rclpy-minimal-publisher ros-humble-examples-rclpy-minimal-service ros-humble-examples-rclpy-minimal-subscriber ros-humble-fastcdr ros-humble-fastrtps
ros-humble-fastrtps-cmake-module ros-humble-foonathan-memory-vendor ros-humble-geometry-msgs ros-humble-geometry2 ros-humble-gmock-vendor ros-humble-gtest-vendor
ros-humble-ignition-cmake2-vendor ros-humble-ignition-math6-vendor ros-humble-image-geometry ros-humble-image-tools ros-humble-image-transport ros-humble-interactive-markers
ros-humble-intra-process-demo ros-humble-joy ros-humble-kdl-parser ros-humble-keyboard-handler ros-humble-laser-geometry ros-humble-launch ros-humble-launch-ros
ros-humble-launch-testing ros-humble-launch-testing-ament-cmake ros-humble-launch-testing-ros ros-humble-launch-xml ros-humble-launch-yaml ros-humble-libcurl-vendor
ros-humble-libstatistics-collector ros-humble-libyaml-vendor ros-humble-lifecycle ros-humble-lifecycle-msgs ros-humble-logging-demo ros-humble-map-msgs
ros-humble-message-filters ros-humble-nav-msgs ros-humble-orocos-kdl-vendor ros-humble-osrf-pycommon ros-humble-pcl-conversions ros-humble-pcl-msgs ros-humble-pendulum-control
ros-humble-pendulum-msgs ros-humble-pluginlib ros-humble-pybind11-vendor ros-humble-python-cmake-module ros-humble-python-orocos-kdl-vendor ros-humble-python-qt-binding
ros-humble-qt-dotgraph ros-humble-qt-gui ros-humble-qt-gui-cpp ros-humble-qt-gui-py-common ros-humble-quality-of-service-demo-cpp ros-humble-quality-of-service-demo-py
ros-humble-rcl ros-humble-rcl-action ros-humble-rcl-interfaces ros-humble-rcl-lifecycle ros-humble-rcl-logging-interface ros-humble-rcl-logging-spdlog
ros-humble-rcl-yaml-param-parser ros-humble-rclcpp ros-humble-rclcpp-action ros-humble-rclcpp-components ros-humble-rclcpp-lifecycle ros-humble-rclpy ros-humble-rcpputils
ros-humble-rcutils ros-humble-resource-retriever ros-humble-rmw ros-humble-rmw-dds-common ros-humble-rmw-fastrtps-cpp ros-humble-rmw-fastrtps-shared-cpp
ros-humble-rmw-implementation ros-humble-rmw-implementation-cmake ros-humble-robot-state-publisher ros-humble-ros-base ros-humble-ros-core ros-humble-ros-environment
ros-humble-ros-workspace ros-humble-ros2action ros-humble-ros2bag ros-humble-ros2cli ros-humble-ros2cli-common-extensions ros-humble-ros2component ros-humble-ros2doctor
ros-humble-ros2interface ros-humble-ros2launch ros-humble-ros2lifecycle ros-humble-ros2multicast ros-humble-ros2node ros-humble-ros2param ros-humble-ros2pkg
ros-humble-ros2plugin ros-humble-ros2run ros-humble-ros2service ros-humble-ros2topic ros-humble-rosbag2 ros-humble-rosbag2-compression ros-humble-rosbag2-compression-zstd
ros-humble-rosbag2-cpp ros-humble-rosbag2-interfaces ros-humble-rosbag2-py ros-humble-rosbag2-storage ros-humble-rosbag2-storage-default-plugins ros-humble-rosbag2-transport
ros-humble-rosgraph-msgs ros-humble-rosidl-adapter ros-humble-rosidl-cli ros-humble-rosidl-cmake ros-humble-rosidl-default-generators ros-humble-rosidl-default-runtime
ros-humble-rosidl-generator-c ros-humble-rosidl-generator-cpp ros-humble-rosidl-generator-py ros-humble-rosidl-generator-rs ros-humble-rosidl-parser ros-humble-rosidl-runtime-c
ros-humble-rosidl-runtime-cpp ros-humble-rosidl-runtime-py ros-humble-rosidl-typesupport-c ros-humble-rosidl-typesupport-cpp ros-humble-rosidl-typesupport-fastrtps-c
ros-humble-rosidl-typesupport-fastrtps-cpp ros-humble-rosidl-typesupport-interface ros-humble-rosidl-typesupport-introspection-c ros-humble-rosidl-typesupport-introspection-cpp
ros-humble-rpyutils ros-humble-rqt-action ros-humble-rqt-bag ros-humble-rqt-bag-plugins ros-humble-rqt-common-plugins ros-humble-rqt-console ros-humble-rqt-graph
ros-humble-rqt-gui ros-humble-rqt-gui-cpp ros-humble-rqt-gui-py ros-humble-rqt-image-view ros-humble-rqt-msg ros-humble-rqt-plot ros-humble-rqt-publisher
ros-humble-rqt-py-common ros-humble-rqt-py-console ros-humble-rqt-reconfigure ros-humble-rqt-service-caller ros-humble-rqt-shell ros-humble-rqt-srv ros-humble-rqt-topic
ros-humble-rttest ros-humble-rviz-assimp-vendor ros-humble-rviz-common ros-humble-rviz-default-plugins ros-humble-rviz-ogre-vendor ros-humble-rviz-rendering ros-humble-rviz2
ros-humble-sdl2-vendor ros-humble-sensor-msgs ros-humble-sensor-msgs-py ros-humble-shape-msgs ros-humble-shared-queues-vendor ros-humble-spdlog-vendor ros-humble-sqlite3-vendor
ros-humble-sros2 ros-humble-sros2-cmake ros-humble-statistics-msgs ros-humble-std-msgs ros-humble-std-srvs ros-humble-stereo-msgs ros-humble-tango-icons-vendor
ros-humble-teleop-twist-joy ros-humble-teleop-twist-keyboard ros-humble-tf2 ros-humble-tf2-bullet ros-humble-tf2-eigen ros-humble-tf2-eigen-kdl ros-humble-tf2-geometry-msgs
ros-humble-tf2-kdl ros-humble-tf2-msgs ros-humble-tf2-py ros-humble-tf2-ros ros-humble-tf2-ros-py ros-humble-tf2-sensor-msgs ros-humble-tf2-tools ros-humble-tinyxml-vendor
ros-humble-tinyxml2-vendor ros-humble-tlsf ros-humble-tlsf-cpp ros-humble-topic-monitor ros-humble-tracetools ros-humble-trajectory-msgs ros-humble-turtlesim
ros-humble-uncrustify-vendor ros-humble-unique-identifier-msgs ros-humble-urdf ros-humble-urdf-parser-plugin ros-humble-urdfdom ros-humble-urdfdom-headers
ros-humble-visualization-msgs ros-humble-yaml-cpp-vendor ros-humble-zstd-vendor rpcsvc-proto shiboken2 sip-dev tango-icon-theme tcl-dev tcl8.6-dev tk tk-dev tk8.6 tk8.6-blt2.5
tk8.6-dev uncrustify unicode-data unixodbc-common unixodbc-dev uuid-dev va-driver-all vdpau-driver-all vtk9 x11proto-dev xorg-sgml-doctools xtrans-dev zlib1g-dev
Suggested packages:
autoconf-archive gnu-standards autoconf-doc gettext binutils-doc blt-demo cmake-doc ninja-build cmake-format cppcheck-gui clang clang-tidy debian-keyring g++-multilib
g++-11-multilib gcc-11-doc gcc-multilib flex bison gcc-doc gcc-11-multilib gcc-11-locales gfortran-multilib gfortran-doc gfortran-11-multilib gfortran-11-doc gsfonts
graphviz-doc i965-va-driver-shaders apache2 | lighttpd | httpd libitpp-dev libasound2-doc libcuda1 libnvcuvid1 libnvidia-encode1 liblapack-doc libbluray-bdj libboost-doc
libboost1.74-doc gccxml libboost-contract1.74-dev libmpfrc++-dev libntl-dev xsltproc doxygen docbook-xsl fop glibc-doc libcurl4-doc libidn11-dev libkrb5-dev libldap2-dev
librtmp-dev libssh2-1-dev git bzr libeigen3-doc libfmt-doc freetype2-doc libgdal-doc libgeotiff-epsg geotiff-bin gdal-bin glew-utils libgirepository1.0-dev libglib2.0-doc
libhdf4-doc hdf4-tools libhdf5-doc libhwloc-contrib-plugins libice-doc icu-doc libjs-jquery-ui-docs libtool-doc liblzma-doc netcdf-bin netcdf-doc odbc-postgresql tdsodbc
ogdi-bin opencv-doc openmpi-doc openni-doc openni2-doc libpcl-doc postgresql-doc-14 qt5-image-formats-plugins qtwayland5 libraw1394-doc libsm-doc sndiod sqlite3-doc libssl-doc
libstdc++-11-doc libsuperlu-doc libtbb-doc libtinyxml-doc gcj-jdk vtk9-doc vtk9-examples java-virtual-machine libwayland-doc libx11-doc libx265-doc libxaw-doc libxcb-doc
libxerces-c-doc libxext-doc libxsimd-doc libxt-doc libyaml-doc m4-doc make-doc opencl-icd openjdk-11-demo openjdk-11-source visualvm fonts-ipafont-gothic fonts-ipafont-mincho
fonts-wqy-microhei | fonts-wqy-zenhei pybind11-doc python-attr-doc python-cycler-doc docutils-doc fonts-linuxlibertine | ttf-linux-libertine texlive-lang-french
texlive-latex-base texlive-latex-recommended python3-genshi python-lark-doc python-lxml-doc dvipng ffmpeg fonts-staypuft inkscape ipython3 python-matplotlib-doc
python3-cairocffi python3-gobject python3-tornado texlive-extra-utils texlive-latex-extra python-mpmath-doc python3-gmpy2 python-numpy-doc python-pil-doc python-ply-doc
python-psutil-doc subversion python-pygments-doc ttf-bitstream-vera python-pyside2-doc python-scipy-doc python-setuptools-doc python-sip-doc python3-stemmer texlive-fonts-extra
python-sympy-doc tix python3-tk-dbg mayavi2 qt5-doc firebird-dev gnome-icon-theme kdelibs-data tcl-doc tcl8.6-doc tk-doc tk8.6-doc libvdpau-va-gl1
The following NEW packages will be installed:
autoconf automake autotools-dev binutils binutils-common binutils-x86-64-linux-gnu blt build-essential ca-certificates-java catch2 cmake cmake-data cppcheck default-jdk
default-jdk-headless default-jre default-jre-headless default-libmysqlclient-dev dh-elpa-helper docutils-common dpkg-dev fakeroot fonts-dejavu-extra fonts-lyx freeglut3 g++
g++-11 gcc gcc-11 gdal-data gfortran gfortran-11 google-mock googletest graphviz hdf5-helpers i965-va-driver ibverbs-providers icu-devtools intel-media-va-driver java-common
javascript-common libaacs0 libaec-dev libaec0 libalgorithm-diff-perl libalgorithm-diff-xs-perl libalgorithm-merge-perl libann0 libaom-dev libaom3 libarmadillo-dev
libarmadillo10 libarpack2 libarpack2-dev libasan6 libasound2-dev libassimp-dev libassimp5 libatk-wrapper-java libatk-wrapper-java-jni libavcodec-dev libavcodec58
libavformat-dev libavformat58 libavutil-dev libavutil56 libbdplus0 libbinutils libblas-dev libblas3 libblkid-dev libblosc-dev libblosc1 libbluray2 libboost-all-dev
libboost-atomic-dev libboost-atomic1.74-dev libboost-atomic1.74.0 libboost-chrono-dev libboost-chrono1.74-dev libboost-chrono1.74.0 libboost-container-dev
libboost-container1.74-dev libboost-container1.74.0 libboost-context-dev libboost-context1.74-dev libboost-context1.74.0 libboost-coroutine-dev libboost-coroutine1.74-dev
......
......
Adding debian:GlobalSign_ECC_Root_CA_-_R4.pem
Adding debian:Buypass_Class_2_Root_CA.pem
Adding debian:certSIGN_Root_CA_G2.pem
Adding debian:SSL.com_Root_Certification_Authority_ECC.pem
Adding debian:vTrus_Root_CA.pem
Adding debian:Sectigo_Public_Server_Authentication_Root_R46.pem
Adding debian:Starfield_Root_Certificate_Authority_-_G2.pem
Adding debian:GDCA_TrustAUTH_R5_ROOT.pem
Adding debian:TrustAsia_TLS_RSA_Root_CA.pem
Adding debian:D-TRUST_EV_Root_CA_1_2020.pem
done.
Setting up python3-matplotlib (3.5.1-2build1) ...
Setting up default-jdk (2:1.11-72build2) ...
Processing triggers for man-db (2.10.2-1) ...
Processing triggers for ca-certificates (20260816ubuntu0.22.04.2) ...
Updating certificates in /etc/ssl/certs...
0 added, 0 removed; done.
Running hooks in /etc/ca-certificates/update.d...
done.
done.
Processing triggers for shared-mime-info (2.1-2) ...
Processing triggers for sgml-base (1.30) ...
Setting up python3-docutils (0.17.1+dfsg-2) ...
Processing triggers for install-info (6.8-4build1) ...
Processing triggers for mailcap (3.70+nmu1ubuntu1.22.04.1) ...
Setting up python3-catkin-pkg-modules (1.1.1-1) ...
Setting up x11proto-dev (2021.5-1) ...
Processing triggers for fontconfig (2.13.1-4.2ubuntu5) ...
Setting up ros-humble-ament-cmake-core (1.3.14-1jammy.20260224.185609) ...
Setting up ros-humble-qt-gui (2.2.5-1jammy.20260330.190956) ...
Processing triggers for desktop-file-utils (0.26-1ubuntu3) ...
Setting up libxau-dev:amd64 (1:1.0.9-1build5) ...
Setting up ros-humble-qt-gui-cpp (2.2.5-1jammy.20260907.200410) ...
Processing triggers for hicolor-icon-theme (0.17-2) ...
Setting up libice-dev:amd64 (2:1.0.10-1build2) ...
Processing triggers for gnome-menus (3.36.0-1ubuntu3) ...
Setting up libsm-dev:amd64 (2:1.2.3-1build2) ...
Processing triggers for libglib2.0-0:amd64 (2.72.4-0ubuntu2.11) ...
Processing triggers for libc-bin (2.35-0ubuntu3.15) ...
Setting up libibus-1.0-dev:amd64 (1.5.26-4) ...
Setting up ros-humble-ament-cmake-gen-version-h (1.3.14-1jammy.20260226.034234) ...
Setting up libxdmcp-dev:amd64 (1:1.1.3-0ubuntu5) ...
Setting up ros-humble-ament-cmake-test (1.3.14-1jammy.20260226.013528) ...
Setting up ros-humble-ament-lint-auto (0.12.15-1jammy.20260226.014133) ...
Setting up ros-humble-ament-cmake-cppcheck (0.12.15-1jammy.20260304.195901) ...
Setting up libpulse-dev:amd64 (1:15.99.1+dfsg1-1ubuntu2.2) ...
Setting up ros-humble-ament-cmake-python (1.3.14-1jammy.20260226.005145) ...
Setting up python3-rospkg-modules (1.6.3-1) ...
Setting up ros-humble-ament-cmake-export-definitions (1.3.14-1jammy.20260226.010509) ...
Setting up ros-humble-ament-cmake-export-libraries (1.3.14-1jammy.20260226.004939) ...
Setting up ros-humble-launch-testing-ament-cmake (1.0.15-1jammy.20260907.192422) ...
Setting up ros-humble-rosidl-adapter (3.1.9-1jammy.20260605.103907) ...
Setting up ros-humble-ament-cmake-include-directories (1.3.14-1jammy.20260226.010650) ...
Setting up ros-humble-ament-cmake-libraries (1.3.14-1jammy.20260226.010453) ...
Setting up ros-humble-ament-cmake-export-targets (1.3.14-1jammy.20260226.005705) ...
Setting up ros-humble-ament-cmake-export-include-directories (1.3.14-1jammy.20260226.010305) ...
Setting up ros-humble-ament-cmake-copyright (0.12.15-1jammy.20260304.195729) ...
Setting up ros-humble-ament-cmake-export-link-flags (1.3.14-1jammy.20260226.010357) ...
Setting up ros-humble-ament-cmake-xmllint (0.12.15-1jammy.20260304.200103) ...
Setting up ros-humble-ament-cmake-version (1.3.14-1jammy.20260226.010514) ...
Setting up ros-humble-ament-cmake-pytest (1.3.14-1jammy.20260226.014042) ...
Setting up ros-humble-ament-cmake-gtest (1.3.14-1jammy.20260226.013944) ...
Setting up libxcb1-dev:amd64 (1.14-3ubuntu3) ...
Setting up ros-humble-ament-cmake-cpplint (0.12.15-1jammy.20260304.195910) ...
Setting up ros-humble-ament-cmake-export-interfaces (1.3.14-1jammy.20260226.005715) ...
Setting up ros-humble-ament-cmake-export-dependencies (1.3.14-1jammy.20260226.011144) ...
Setting up ros-humble-ament-cmake-uncrustify (0.12.15-1jammy.20260304.195907) ...
Setting up ros-humble-rosidl-parser (3.1.9-1jammy.20260605.104513) ...
Setting up libx11-dev:amd64 (2:1.7.5-1ubuntu0.4) ...
Setting up ros-humble-ament-cmake-lint-cmake (0.12.15-1jammy.20260304.195414) ...
Setting up ros-humble-ament-cmake-gmock (1.3.14-1jammy.20260226.034220) ...
Setting up ros-humble-ament-cmake-flake8 (0.12.15-1jammy.20260304.200009) ...
Setting up libxfixes-dev:amd64 (1:6.0.0-1) ...
Setting up ros-humble-ament-cmake-pep257 (0.12.15-1jammy.20260304.200058) ...
Setting up ros-humble-ament-cmake-target-dependencies (1.3.14-1jammy.20260226.013622) ...
Setting up python3-rosdistro-modules (1.1.0-1) ...
Setting up libxt-dev:amd64 (1:1.2.1-1) ...
Setting up libxpm-dev:amd64 (1:3.5.12-1ubuntu0.22.04.4) ...
Setting up ros-humble-rosidl-runtime-py (0.9.3-1jammy.20260907.210804) ...
Setting up libxext-dev:amd64 (2:1.3.4-1build1) ...
Setting up libglx-dev:amd64 (1.4.0-1) ...
Setting up ros-humble-ament-cmake (1.3.14-1jammy.20260226.035055) ...
Setting up ros-humble-ament-lint-common (0.12.15-1jammy.20260304.201149) ...
Setting up libxi-dev:amd64 (2:1.8-1build1) ...
Setting up libxrender-dev:amd64 (1:0.9.10-1build4) ...
Setting up libgl-dev:amd64 (1.4.0-1) ...
Setting up ros-humble-ament-cmake-ros (0.10.1-1jammy.20260907.191552) ...
Setting up libxft-dev:amd64 (2.3.4-1) ...
Setting up libxmu-headers (2:1.1.3-3) ...
Setting up libegl-dev:amd64 (1.4.0-1) ...
Setting up ros-humble-rosidl-cmake (3.1.9-1jammy.20260605.104545) ...
Setting up libxcursor-dev:amd64 (1:1.2.0-2build4) ...
Setting up ros-humble-ament-cmake-auto (1.3.14-1jammy.20260304.074922) ...
Setting up libxxf86vm-dev:amd64 (1:1.1.4-1build3) ...
Setting up libxmu-dev:amd64 (2:1.1.3-3) ...
Setting up libxss-dev:amd64 (1:1.2.3-1build2) ...
Setting up ros-humble-angles (1.15.0-1jammy.20260304.075013) ...
Setting up libxv-dev:amd64 (2:1.0.11-1build2) ...
Setting up libxrandr-dev:amd64 (2:1.5.2-1build1) ...
Setting up ros-humble-rosidl-runtime-c (3.1.9-1jammy.20260907.193450) ...
Setting up ros-humble-rosidl-typesupport-introspection-c (3.1.9-1jammy.20260907.194327) ...
Setting up libglu1-mesa-dev:amd64 (9.0.2-1) ...
Setting up libxinerama-dev:amd64 (2:1.1.4-3) ...
Setting up tk8.6-dev:amd64 (8.6.12-1build1) ...
Setting up qtbase5-dev:amd64 (5.15.3+dfsg-2ubuntu0.2) ...
Setting up ros-humble-rosidl-generator-c (3.1.9-1jammy.20260907.194807) ...
Setting up qtdeclarative5-dev:amd64 (5.15.3+dfsg-1) ...
Setting up ros-humble-tlsf (0.7.0-2jammy.20260304.202930) ...
Setting up ros-humble-rmw-implementation-cmake (6.1.4-1jammy.20260907.191123) ...
Setting up libxaw7-dev:amd64 (2:1.0.14-1) ...
Setting up libgles-dev:amd64 (1.4.0-1) ...
Setting up libqt5opengl5-dev:amd64 (5.15.3+dfsg-2ubuntu0.2) ...
Setting up ros-humble-rmw (6.1.4-1jammy.20260907.194822) ...
Setting up libglvnd-dev:amd64 (1.4.0-1) ...
Setting up ros-humble-rosidl-typesupport-c (2.0.2-1jammy.20260907.195356) ...
Setting up ros-humble-rosidl-runtime-cpp (3.1.9-1jammy.20260907.194318) ...
Setting up ros-humble-rosidl-generator-py (0.14.6-1jammy.20260907.200655) ...
Setting up libqt5webkit5-dev:amd64 (5.212.0~alpha4-15ubuntu1) ...
Setting up ros-humble-rosidl-generator-cpp (3.1.9-1jammy.20260907.195420) ...
Setting up ros-humble-rcl-yaml-param-parser (5.3.13-1jammy.20260907.195746) ...
Setting up libglew-dev:amd64 (2.2.0-4) ...
Setting up tk-dev:amd64 (8.6.11+1build2) ...
Setting up qttools5-dev:amd64 (5.15.3-1) ...
Setting up ros-humble-rosidl-typesupport-cpp (2.0.2-1jammy.20260907.200013) ...
Setting up ros-humble-rosidl-generator-rs (0.5.0-1jammy.20260907.195915) ...
Setting up ros-humble-rosidl-typesupport-fastrtps-cpp (2.2.4-1jammy.20260907.200016) ...
Setting up libgl1-mesa-dev:amd64 (23.2.1-1ubuntu3.1~22.04.4) ...
Setting up ros-humble-rviz-ogre-vendor (11.2.29-1jammy.20260907.175630) ...
Setting up ros-humble-rosidl-typesupport-introspection-cpp (3.1.9-1jammy.20260907.195401) ...
Setting up libegl1-mesa-dev:amd64 (23.2.1-1ubuntu3.1~22.04.4) ...
Setting up qttools5-private-dev:amd64 (5.15.3-1) ...
Setting up libsdl2-dev:amd64 (2.0.20+dfsg-2ubuntu1.22.04.1) ...
Setting up libvtk9-dev (9.1.0+really9.1.0+dfsg2-3build1) ...
Setting up ros-humble-rosidl-typesupport-fastrtps-c (2.2.4-1jammy.20260907.200330) ...
Setting up ros-humble-rosidl-default-generators (1.2.1-1jammy.20260907.201146) ...
Setting up libvtk9-qt-dev:amd64 (9.1.0+really9.1.0+dfsg2-3build1) ...
Setting up ros-humble-rosidl-default-runtime (1.2.1-1jammy.20260907.201130) ...
Setting up ros-humble-builtin-interfaces (1.2.3-1jammy.20260907.204459) ...
Setting up ros-humble-rviz-rendering (11.2.29-1jammy.20260907.193503) ...
Setting up ros-humble-std-srvs (4.9.2-1jammy.20260907.204811) ...
Setting up ros-humble-statistics-msgs (1.2.3-1jammy.20260907.205029) ...
Setting up ros-humble-sdl2-vendor (3.3.0-1jammy.20260304.195240) ...
Setting up ros-humble-rmw-dds-common (1.6.0-2jammy.20260907.204727) ...
Setting up ros-humble-rmw-fastrtps-shared-cpp (6.2.10-1jammy.20260907.205244) ...
Setting up ros-humble-pendulum-msgs (0.20.10-1jammy.20260907.204901) ...
Setting up libpcl-dev (1.12.1+dfsg-3build1) ...
Setting up ros-humble-lifecycle-msgs (1.2.3-1jammy.20260907.204700) ...
Setting up ros-humble-unique-identifier-msgs (2.2.1-3jammy.20260907.205031) ...
Setting up ros-humble-rosbag2-interfaces (0.15.17-1jammy.20260908.083559) ...
Setting up ros-humble-std-msgs (4.9.2-1jammy.20260907.205027) ...
Setting up ros-humble-rcl-interfaces (1.2.3-1jammy.20260907.204906) ...
Setting up ros-humble-rmw-fastrtps-cpp (6.2.10-1jammy.20260907.210327) ...
Setting up ros-humble-actionlib-msgs (4.9.2-1jammy.20260907.213622) ...
Setting up ros-humble-geometry-msgs (4.9.2-1jammy.20260907.210358) ...
Setting up ros-humble-rosgraph-msgs (1.2.3-1jammy.20260907.205335) ...
Setting up ros-humble-rmw-implementation (2.8.5-1jammy.20260907.211224) ...
Setting up ros-humble-action-msgs (1.2.3-1jammy.20260907.205155) ...
Setting up ros-humble-rcl (5.3.13-1jammy.20260907.211637) ...
Setting up ros-humble-composition-interfaces (1.2.3-1jammy.20260907.210807) ...
Setting up ros-humble-diagnostic-msgs (4.9.2-1jammy.20260907.211316) ...
Setting up ros-humble-action-tutorials-interfaces (0.20.10-1jammy.20260907.210820) ...
Setting up ros-humble-libstatistics-collector (1.3.4-1jammy.20260907.212934) ...
Setting up ros-humble-tf2-msgs (0.25.24-1jammy.20260915.203812) ...
Setting up ros-humble-rcl-lifecycle (5.3.13-1jammy.20260907.212931) ...
Setting up ros-humble-tf2 (0.25.24-1jammy.20260915.203746) ...
Setting up ros-humble-rclcpp (16.0.21-1jammy.20260907.213403) ...
Setting up ros-humble-sensor-msgs (4.9.2-1jammy.20260907.212033) ...
Setting up ros-humble-dummy-sensors (0.20.10-1jammy.20260908.001700) ...
Setting up ros-humble-tlsf-cpp (0.13.0-2jammy.20260907.222721) ...
Setting up ros-humble-nav-msgs (4.9.2-1jammy.20260907.211410) ...
Setting up ros-humble-examples-rclcpp-minimal-publisher (0.15.5-1jammy.20260907.232646) ...
Setting up ros-humble-examples-rclcpp-minimal-timer (0.15.5-1jammy.20260908.003501) ...
Setting up ros-humble-shape-msgs (4.9.2-1jammy.20260907.212354) ...
Setting up ros-humble-visualization-msgs (4.9.2-1jammy.20260907.213259) ...
Setting up ros-humble-trajectory-msgs (4.9.2-1jammy.20260907.212425) ...
Setting up ros-humble-rclcpp-components (16.0.21-1jammy.20260907.223024) ...
Setting up ros-humble-rqt-gui-cpp (1.1.10-2jammy.20260907.223131) ...
Setting up ros-humble-image-geometry (3.2.1-1jammy.20260907.220109) ...
Setting up ros-humble-example-interfaces (0.9.3-2jammy.20260907.205601) ...
Setting up ros-humble-sensor-msgs-py (4.9.2-1jammy.20260907.220122) ...
Setting up ros-humble-intra-process-demo (0.20.10-1jammy.20260907.233717) ...
Setting up ros-humble-logging-demo (0.20.10-1jammy.20260907.223550) ...
Setting up ros-humble-rosbag2-cpp (0.15.17-1jammy.20260908.090019) ...
Setting up ros-humble-examples-rclcpp-multithreaded-executor (0.15.5-1jammy.20260907.232718) ...
Setting up ros-humble-map-msgs (2.1.0-3jammy.20260907.213051) ...
Setting up ros-humble-examples-rclcpp-minimal-subscriber (0.15.5-1jammy.20260907.232652) ...
Setting up ros-humble-stereo-msgs (4.9.2-1jammy.20260907.213233) ...
Setting up ros-humble-rcl-action (5.3.13-1jammy.20260907.212858) ...
Setting up ros-humble-common-interfaces (4.9.2-1jammy.20260907.214727) ...
Setting up ros-humble-pendulum-control (0.20.10-1jammy.20260907.223222) ...
Setting up ros-humble-rclcpp-lifecycle (16.0.21-1jammy.20260907.223044) ...
Setting up ros-humble-rosbag2-compression (0.15.17-1jammy.20260908.091001) ...
Setting up ros-humble-cv-bridge (3.2.1-1jammy.20260907.220118) ...
Setting up ros-humble-demo-nodes-cpp-native (0.20.10-1jammy.20260907.223527) ...
Setting up ros-humble-tf2-eigen-kdl (0.25.24-1jammy.20260915.204411) ...
Setting up ros-humble-dummy-map-server (0.20.10-1jammy.20260908.001348) ...
Setting up ros-humble-pcl-msgs (1.0.0-7jammy.20260907.213205) ...
Setting up ros-humble-examples-rclcpp-minimal-composition (0.15.5-1jammy.20260907.232532) ...
Setting up ros-humble-image-tools (0.20.10-1jammy.20260907.223602) ...
Setting up ros-humble-examples-rclcpp-minimal-service (0.15.5-1jammy.20260907.235354) ...
Setting up ros-humble-joy (3.3.0-1jammy.20260907.223742) ...
Setting up ros-humble-teleop-twist-joy (2.4.8-1jammy.20260907.224340) ...
Setting up ros-humble-examples-rclcpp-minimal-client (0.15.5-1jammy.20260907.235329) ...
Setting up ros-humble-lifecycle (0.20.10-1jammy.20260907.223751) ...
Setting up ros-humble-depthimage-to-laserscan (2.5.1-1jammy.20260907.223729) ...
Setting up ros-humble-rclcpp-action (16.0.21-1jammy.20260907.223015) ...
Setting up ros-humble-rclpy (3.3.22-1jammy.20260907.213431) ...
Setting up ros-humble-launch-ros (0.19.14-1jammy.20260907.214826) ...
Setting up ros-humble-teleop-twist-keyboard (2.4.1-1jammy.20260907.214851) ...
Setting up ros-humble-examples-rclcpp-minimal-action-server (0.15.5-1jammy.20260907.235321) ...
Setting up ros-humble-rosbag2-transport (0.15.17-1jammy.20260908.093213) ...
Setting up ros-humble-rqt-gui (1.1.10-2jammy.20260907.220854) ...
Setting up ros-humble-message-filters (4.3.20-1jammy.20260907.223809) ...
Setting up ros-humble-rosbag2-compression-zstd (0.15.17-1jammy.20260908.091226) ...
Setting up ros-humble-action-tutorials-py (0.20.10-1jammy.20260907.215025) ...
Setting up ros-humble-examples-rclpy-minimal-subscriber (0.15.5-1jammy.20260907.214954) ...
Setting up ros-humble-tf2-py (0.25.24-1jammy.20260915.204342) ...
Setting up ros-humble-demo-nodes-cpp (0.20.10-1jammy.20260907.223640) ...
Setting up ros-humble-examples-rclcpp-minimal-action-client (0.15.5-1jammy.20260907.235316) ...
Setting up ros-humble-action-tutorials-cpp (0.20.10-1jammy.20260908.011717) ...
Setting up ros-humble-quality-of-service-demo-py (0.20.10-1jammy.20260907.215008) ...
Setting up ros-humble-examples-rclpy-executors (0.15.5-1jammy.20260907.214938) ...
Setting up ros-humble-rqt-py-common (1.1.10-2jammy.20260907.214248) ...
Setting up ros-humble-examples-rclpy-minimal-action-client (0.15.5-1jammy.20260907.215059) ...
Setting up ros-humble-composition (0.20.10-1jammy.20260907.223526) ...
Setting up ros-humble-examples-rclpy-minimal-action-server (0.15.5-1jammy.20260907.215107) ...
Setting up ros-humble-examples-rclpy-minimal-client (0.15.5-1jammy.20260907.214939) ...
Setting up ros-humble-ros2cli (0.18.20-1jammy.20260907.215122) ...
Setting up ros-humble-topic-monitor (0.20.10-1jammy.20260907.222300) ...
Setting up ros-humble-tf2-ros-py (0.25.24-1jammy.20260915.204621) ...
Setting up ros-humble-ros2pkg (0.18.20-1jammy.20260907.215532) ...
Setting up ros-humble-sros2 (0.10.9-1jammy.20260907.220037) ...
Setting up ros-humble-quality-of-service-demo-cpp (0.20.10-1jammy.20260907.223616) ...
Setting up ros-humble-turtlesim (1.4.3-1jammy.20260907.224408) ...
Setting up ros-humble-rosbag2-py (0.15.17-1jammy.20260908.094814) ...
Setting up ros-humble-tf2-ros (0.25.24-1jammy.20260915.204410) ...
Setting up ros-humble-ros2node (0.18.20-1jammy.20260907.215522) ...
Setting up ros-humble-tf2-tools (0.25.24-1jammy.20260915.205524) ...
Setting up ros-humble-examples-rclpy-minimal-publisher (0.15.5-1jammy.20260907.214947) ...
Setting up ros-humble-launch-testing-ros (0.19.14-1jammy.20260907.215211) ...
Setting up ros-humble-ros2topic (0.18.20-1jammy.20260907.215610) ...
Setting up ros-humble-demo-nodes-py (0.20.10-1jammy.20260907.214920) ...
Setting up ros-humble-image-transport (3.1.13-1jammy.20260907.224758) ...
Setting up ros-humble-pcl-conversions (2.4.5-2jammy.20260907.233725) ...
Setting up ros-humble-examples-rclpy-minimal-service (0.15.5-1jammy.20260907.214953) ...
Setting up ros-humble-laser-geometry (2.4.1-1jammy.20260915.220558) ...
Setting up ros-humble-sros2-cmake (0.10.9-1jammy.20260907.222259) ...
Setting up ros-humble-ros2doctor (0.18.20-1jammy.20260907.215514) ...
Setting up ros-humble-rqt-image-view (1.2.0-2jammy.20260907.230654) ...
Setting up ros-humble-tf2-eigen (0.25.24-1jammy.20260915.205602) ...
Setting up ros-humble-ros2launch (0.19.14-1jammy.20260907.215912) ...
Setting up ros-humble-rqt-gui-py (1.1.10-2jammy.20260908.003049) ...
Setting up ros-humble-tf2-geometry-msgs (0.25.24-1jammy.20260915.205448) ...
Setting up ros-humble-rqt-topic (1.5.1-1jammy.20260908.003931) ...
Setting up ros-humble-tf2-bullet (0.25.24-1jammy.20260915.205551) ...
Setting up ros-humble-ros2multicast (0.18.20-1jammy.20260907.222320) ...
Setting up ros-humble-ros2plugin (5.1.5-1jammy.20260907.220809) ...
Setting up ros-humble-rqt-graph (1.3.2-1jammy.20260908.004058) ...
Setting up ros-humble-tf2-sensor-msgs (0.25.24-1jammy.20260915.205645) ...
Setting up ros-humble-ros2action (0.18.20-1jammy.20260907.215508) ...
Setting up ros-humble-rqt-shell (1.0.2-3jammy.20260908.004150) ...
Setting up ros-humble-rqt-service-caller (1.0.5-3jammy.20260908.004003) ...
Setting up ros-humble-rqt-py-console (1.0.2-3jammy.20260908.003917) ...
Setting up ros-humble-tf2-kdl (0.25.24-1jammy.20260915.205628) ...
Setting up ros-humble-ros2run (0.18.20-1jammy.20260907.222251) ...
Setting up ros-humble-rqt-plot (1.1.5-1jammy.20260908.003815) ...
Setting up ros-humble-rqt-console (2.0.3-1jammy.20260908.003742) ...
Setting up ros-humble-ros2bag (0.15.17-1jammy.20260908.095407) ...
Setting up ros-humble-rqt-reconfigure (1.1.4-1jammy.20260908.004114) ...
Setting up ros-humble-ros2interface (0.18.20-1jammy.20260907.215522) ...
Setting up ros-humble-ros2service (0.18.20-1jammy.20260907.215538) ...
Setting up ros-humble-robot-state-publisher (3.0.3-2jammy.20260915.225247) ...
Setting up ros-humble-rviz-common (11.2.29-1jammy.20260915.212521) ...
Setting up ros-humble-rqt-bag (1.1.6-1jammy.20260908.095212) ...
Setting up ros-humble-interactive-markers (2.3.2-2jammy.20260915.212721) ...
Setting up ros-humble-rosbag2 (0.15.17-1jammy.20260908.100944) ...
Setting up ros-humble-rqt-publisher (1.5.0-1jammy.20260908.003921) ...
Setting up ros-humble-dummy-robot-bringup (0.20.10-1jammy.20260915.232639) ...
Setting up ros-humble-rqt-msg (1.2.1-1jammy.20260908.004012) ...
Setting up ros-humble-rqt-srv (1.0.3-3jammy.20260908.004141) ...
Setting up ros-humble-ros2param (0.18.20-1jammy.20260907.220408) ...
Setting up ros-humble-ros2lifecycle (0.18.20-1jammy.20260908.004506) ...
Setting up ros-humble-rqt-bag-plugins (1.1.6-1jammy.20260908.101320) ...
Setting up ros-humble-rviz-default-plugins (11.2.29-1jammy.20260915.231541) ...
Setting up ros-humble-geometry2 (0.25.24-1jammy.20260915.210046) ...
Setting up ros-humble-ros2component (0.18.20-1jammy.20260907.225314) ...
Setting up ros-humble-rviz2 (11.2.29-1jammy.20260916.003100) ...
Setting up ros-humble-rqt-action (2.0.1-3jammy.20260908.004100) ...
Setting up ros-humble-rqt-common-plugins (1.2.0-1jammy.20260908.101606) ...
Setting up ros-humble-ros2cli-common-extensions (0.1.2-1jammy.20260908.004901) ...
Setting up ros-humble-ros-core (0.10.0-1jammy.20260908.005124) ...
Setting up ros-humble-ros-base (0.10.0-1jammy.20260915.225919) ...
Setting up ros-humble-desktop (0.10.0-1jammy.20260916.003705) ...
Processing triggers for libc-bin (2.35-0ubuntu3.15) ...
ph@ph-virtual-machine:~$ 经过一段比较长的时间后（在笔者环境下大约花了30分钟左右），ROS 2终于安装完成了。
ROS2安装在什么位置了呢？安装在了/opt/ROS下。如下所示：
humble就是对应的版本。
这就是上边安装的所有功能包所在的位置了。
后续步骤请看下回。