ros2安装教程

ros官网安装指导：
https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

1、确保支持UTF-8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 settings

2、添加ros2 apt存储库

（1）确保 Ubuntu Universe 存储库已启用

apt-cache policy | grep universe

# 显示结果和下面类似表明已启动
500 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 Packages
    release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64

如果没有看到像上面那样的输出结果，使用下以命令启用 Universe 存储库

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

（2）授权GPG密钥

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

（3）添加ros2 存储库到源列表

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3、安装ros2 包

（1）更新缓存库

# 更新apt存储库缓存
sudo apt update
# 升级系统软件包
sudo apt upgrade

（2）ros2安装

# 包含ros2 galactic版  仿真工具rviz  ros2默认demo  海龟模拟器 tutorials
sudo apt install ros-galactic-desktop

# 通信库、消息包、命令行工具安装
sudo apt install ros-galactic-ros-base

注意：ros2是区分版本的 下载时注意不同的版本ros包安装命令不同

# galactic版
sudo apt install ros-galactic-desktop
sudo apt install ros-galactic-ros-base
# humble版
sudo apt install ros-humble-desktop
sudo apt install ros-humble-ros-base
# foxy版
sudo apt install ros-foxy-desktop python3-argcomplete
sudo apt install ros-foxy-ros-base python3-argcomplete

在官网查看当前版本的安装指导

4、加载环境变量

echo "source /opt/ros/galactic/setup.bash" >> ~/.bashrc
# ros2默认安装在这个目录 /opt/ros
# 加载环境变量准确来说依赖于ros安装的位置，如果执行这条指令没有生效建议检查下ros安装路径 对上面路径进行替换

验证安装结果

ros2 --help

5、踩坑合集

（1）GPG共钥不可用

报错：
W: GPG error: https://repo.huaweicloud.com/ros2/ubuntu focal InRelease: The following signatures couldn’t be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository ‘https://repo.huaweicloud.com/ros2/ubuntu focal InRelease’ is not signed.
N: Updating from such a repository can’t be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

解决办法：添加缺少的公钥

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654  # 换成提示的key

（2）拒绝连接：connection refused

解决办法：

查询被墙网址对应ip地址

进入网站 https://www.ipaddress.com/ 查询 raw.githubusercontent.com映射的ip地址

在本地host文件中添加ip地址的映射关系

sudo vim /etc/hosts