利用树莓派4B平台自学ros2笔记4

主旨：物理机安装ros2-galactic

终于折腾完新电脑的ubuntu系统的安装，解决了wifi&&亮度问题，现在给新电脑安装ros2操作系统
参考链接：https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

1、Set locale

locale  # check for 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

locale  # verify settings

2、Setup Sources

apt-cache policy | grep universe
 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

sudo apt install software-properties-common
sudo add-apt-repository universe

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

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

3、install ros2 package

sudo apt update

sudo apt install ros-galactic-desktop

sudo gedit ~/.bashrc
source /opt/ros/galactic/setup.bash
shource ~/.bashrc

4、test ros2
安装多终端

sudo apt install terminator

终端a

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker

终端b

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_py listener

5、因为ros2安装默认不带gazebo
现在安装gazebo

 sudo apt install gazebo* -y

6、下载安装gazebo model lib
git下载连接：https://github.com/osrf/gazebo_models
下载解压后变更文件夹名为models，并将models放置在以下路径下

7、安装ros2使用的编译工具colcon
参考链接：https://colcon.readthedocs.io/en/released/user/installation.html

sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install python3-colcon-common-extensions

完结撒花～～～