install ROS2

Ubuntu20.04安装ROS2

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一、设置编码

1. sudo apt update && sudo apt install locales

2. sudo locale-gen en_US en_US.UTF-8

3. sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

4. export LANG=en_US.UTF-8

二、设置源

 - 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

如果提示 failed to connect to raw.githubusercontent.com错误，则需要重新确认网站的ip映像。方法如下：

• 登录网站 https://www.ipaddress.com
• 输入网址 raw.githubusercontent.com
• 获取最新ip地址
• 在Ubuntu中打开hosts文件（sudo gedit /etc/hosts），添加新的映射关系

三、安装ROS2

7. 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

8. sudo apt update

9. sudo apt upgrade

10.  sudo apt install ros-foxy-desktop

四、添加环境变量

11.  source /opt/ros/foxy/setup.bash

//将上行代码添加至.bashrc文件中，之后不必每次都再执行上句命令
12.  echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

13.  sudo apt update