网站推荐
官方文档: https://index.ros.org/doc/ros2/
清华镜像站: https://mirrors.tuna.tsinghua.edu.cn/help/ros2/
设置语言环境
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 setting
设置源
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)] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ bionic main" > /etc/apt/sources.list.d/ros2-latest.list’
安装ROS 2软件包
sudo apt update
sudo apt install ros-foxy-desktop
环境设置
source /opt/ros/foxy/setup.bash
测试
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker
打开一个新的命令窗口
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener