1.ubuntu安装ROS2

Ubuntu 20.04安装ROS2

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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

  1. 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
     

  2. 重新执行

     rosdep update
     

  3. 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。

  4. 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