ROS2 环境安装

1、难点

        可以按照官网得做法进行下载公钥并安装，下载key的网址（https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc）上不去，需要访问国外的网站无法安装

2、解决

      主要通过添加 https://ghproxy.com/ 代理解决

 3、更换源

        （1）备份源

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

        （2）修改源

        sudo vim /etc/apt/sources.list

更改为如下内容

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse 
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse 
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse 
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse 
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse 
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse 
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse 
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse 
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse 
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

4、安装

        （1）sudo apt update  //更新

        （2）sudo apt install curl gnupg2 lsb-release   // 安装配置软件

        （3）sudo curl -sSL https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg     // 下载源

        （4） echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null     // 源添加到列表

        （5）sudo apt update

        （6） sudo apt install ros-foxy-desktop 

5、安装 colcon

sudo apt install python3-colcon-common-extensions