【经验总结】Ubuntu 22.04 安装 ROS

版本选择

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电脑配置

• Ubuntu 22.04.3 LTS

ROS 版本

ROS1[https://wiki.ros.org/Distributions]

ROS2[https://docs.ros.org/en/humble/Releases.html]

Ubuntu	ROS1	Release date	End of Life
Ubuntu 20.04 LTS	Noetic Ninjemys	May 23rd, 2020	May, 2025
Ubuntu 18.04 LTS	Melodic Morenia	May 23rd, 2018	May, 2023
Ubuntu 17.04 LTS	Lunar Loggerhead	May 23rd, 2017	May, 2019
Ubuntu 16.04 LTS	Kinetic Kame	May 23rd, 2016	April, 2021
Ubuntu 15.04 LTS	Jade Turtle	May 23rd, 2015	May, 2017
Ubuntu 14.04 LTS	Indigo lgloo	July 22nd, 2014	April, 2019
Ubuntu	ROS2	Release date	End of Life
Ubuntu 22.04 LTS	Iron Irwini	May 23rd, 2023	November 2024
Ubuntu 22.04 LTS	Humble Hawksbill	May 23rd, 2022	May 2027
Ubuntu 20.04 LTS	Galactic Geochelone	May 23rd, 2021	December 9th, 2022
Ubuntu 20.04 LTS	Foxy Fitzroy	June 5th, 2020	June 20th, 2023
Ubuntu 18.04 LTS	Eloquent Elusor	November 22nd, 2019	November 2020
Ubuntu 18.04 LTS	Dashing Diademata	May 31st, 2019	May 2021
Ubuntu 18.04 LTS	Crystal Clemmys	December 14th, 2018	December 2019
Ubuntu 18.04 LTS
Ubuntu 16.04 LTS	Bouncy Bolson	July 2nd, 2018	July 2019
Ubuntu 16.04 LTS	Ardent Apalone	December 8th, 2017	December 2018

• 最后选择安装 Humble Hawksbill on Ubuntu Linux 22.04, Windows 10

安装 ROS2 Humble Hawksbill 系统

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设置语言环境编码

locale  # 检查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  # 验证设置

设置源

• 确保 Ubuntu Universe 存储库已启用

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

• 使用 apt 添加 ROS 2 GPG 密钥

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

• 将存储库添加到您的源列表中

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

安装 ROS2 软件包（安装时间比较久，请耐心等待）

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

设置环境

source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc

测试系统

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通信系统测试

• 启动第一个终端，输入以下命令启动数据发布者节点

ros2 run demo_nodes_cpp talker

• 启动第二个终端，输入以下命令启动数据订阅者节点

ros2 run demo_nodes_py listener

• 发布者发出“Hello World”，而订阅者收到“Hello World”，则验证 C++ 和 Python API 正常工作

小海龟仿真器

• 启动第一个终端，输入以下命令启动海龟仿真器

ros2 run turtlesim turtlesim_node

• 启动第二个终端，输入以下命令启动键盘控制节点

ros2 run turtlesim turtle_teleop_key

• 在第二个终端点击上下左右按键，可以控制小海龟运动

卸载 ROS2 Humble Hawksbill 系统

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卸载 ROS 2 或切换到基于源的安装

sudo apt remove ~nros-humble-*
sudo apt autoremove

删除存储库

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
sudo apt upgrade