Ubuntu 20.04安装ROS2

最新推荐文章于 2024-07-26 16:52:23 发布

Dream_Chaser2015

最新推荐文章于 2024-07-26 16:52:23 发布

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文章标签： ubuntu ROS2

本文链接：https://blog.csdn.net/hgsdfghdfsd/article/details/124648677

版权

本文档详细记录了在Ubuntu20.04上安装ROS2过程中遇到的网络连接、源更新超时以及RTIConnext环境配置等问题，并提供了相应的解决方案，包括修改hosts文件、添加https://ghproxy.com/前缀到源列表以及安装RTIConnext和设置NDDSHOME环境变量。

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Ubuntu 20.04安装ROS2

参考ROS2官方安装文档，安装ROS2。安装过程中会遇到如下问题

报错 1

运行

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

时报错：

curl: (7) Failed to connect to raw.githubusercontent.com port 443: Connection refused

解决方案：
1. 使用工具，找到raw.githubusercontent.com对应的ip地址185.199.110.133
2. sudo vim /etc/hosts，在最后添加 185.199.110.133 raw.githubusercontent.com
  127.0.0.1 localhost
  127.0.1.1 dc-virtual-machine
```
# The following lines are desirable for IPv6 capable hosts
::1     ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
185.199.110.133 raw.githubusercontent.com
```
3. 重新执行
  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
4. 如果还是不行，打开手机热点，pc连接手机热点之后重新执行。

报错 2

运行

rosdep update

时报错：

reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: error loading sources list:
	The read operation timed out

解决方案

sudo vim /etc/ros/rosdep/sources.list.d/20-default.list修改文件，添加https://ghproxy.com/前缀
# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

重新执行
rosdep update
如果还是不行，打开手机热点，pc连接手机热点之后重新执行。

也可以运行以下脚本，直到rosdep update运行成功。
#!/bin/bash

for (( ;; ))
do
   rosdep update
   if(($? == 0))
   then
      exit
   fi
done

报错 3

运行

. ~/ros2_galactic/ros2-linux/setup.bash

时报错：

[connext_cmake_module] Warning: The location at which Connext was found when the workspace was built [[/opt/rti.com/rti_connext_dds-5.3.1]] does not point to a valid directory, and the NDDSHOME environment variable has not been set. Support for Connext will not be available.

解决方案：
1. 安装RTI Connext
  sudo apt install -q -y rti-connext-dds-5.3.1
2. 导入设置文件设置 NDDSHOME 环境变量
  cd /opt/rti.com/rti_connext_dds-5.3.1/resource/scripts && source ./rtisetenv_x64Linux3gcc5.4.0.bash; cd -
3. 重新执行
  . ~/ros2_galactic/ros2-linux/setup.bash