Ubuntu 20.04 安装ROS2 Galactic（详细安装步骤）

检查编码格式:要求locale支持UTF-8

locale 

设置en_US.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

再次检查编码格式

locale  

apt-cache policy | grep universe

观察是否有以下字符
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

安装

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

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

安装

python3 -m pip install -U \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest \
  setuptools

二进制安装

sudo apt install ros-galactic-desktop

源码下载

mkdir -p ~/ros2_galactic/src
cd ~/ros2_galactic
wget https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
vcs import src < ros2.repos

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers"

编译

cd ~/ros2_galactic/
colcon build --symlink-install

环境变量

. ~/ros2_galactic/install/local_setup.bash

例子

. ~/ros2_galactic/install/local_setup.bash
ros2 run demo_nodes_cpp talker

. ~/ros2_galactic/install/local_setup.bash
ros2 run demo_nodes_py listener

sudo apt install clang
export CC=clang
export CXX=clang++
colcon build --cmake-force-configure

参考

https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html