树莓派4B安装Ubuntu Server 22.04 LTS && ros2-humble

参考链接:https://ubuntu.com/tutorials/how-to-install-ubuntu-on-your-raspberry-pi#1-overview

1、下载镜像
官方链接：https://ubuntu.com/download/raspberry-pi/thank-you?version=22.04&architecture=server-arm64+raspi

2、使用rpi工具烧录镜像到TF卡

3、修改网络配置文件，使树莓派开机自动联网

4、进入路由器管理后台查看树莓派ip

5、默认用户名ubuntu；默认密码ubuntu；
6、更新源文件&&更新软件

sudo apt update && sudo apt upgrade

7、安装ros2-humble
7.1、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

7.2、

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

7.3、update && upgrade

sudo apt update
sudo apt upgrade

7.4、install humble

sudo apt install ros-humble-ros-base

7.5、setup ros2

vim ~/.bashrc
source /opt/ros/humble/setup.bash

7.6、测试软件

sudo apt install ros-humble-demo-nodes-*

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

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

8、ooooooooooooook~~~