文件信息
- about: 如何安装ros2 foxy版本,如何跑出小乌龟。
- email: jfq3301@163.com
- date: 2022.6.19
版本对应关系
ubuntu | ros | version | Release date | End of life |
---|---|---|---|---|
ubuntu 20 | ros2 | Foxy Fitzroy | June 5th, 2020 | May, 2023 |
ubuntu 22 | ros2 | Humble Hawksbill | May 23rd, 2022 | May 2027 |
安装ubuntu
选择优麒麟ubuntu进行安装。优麒麟ubuntu是中文发布版本,版本中包含docker、搜狗拼音、aliyun源下载等。
设置编码
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
添加源
sudo apt update && sudo apt install curl gnupg2 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
问题
如遇报错“Failed to connect to raw.githubusercontent.com”,
可参考: https://www.guyuehome.com/37844
解决方法
登录网站:https://www.ipaddress.com,搜索raw.githubusercontent.com
的IP地址。
sudo vi /etc/hosts
#添加一条记录
185.199.110.133 raw.githubusercontent.com
#再次运行
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
安装ROS2
sudo apt update
sudo apt upgrade
sudo apt install ros-foxy-desktop
设置环境变量
注意这里的ros版本是foxy,如果是其他版本,请自行替换foxy字段。
source /opt/ros/foxy/setup.bash
echo " source /opt/ros/foxy/setup.bash" >> ~/.bashrc
命令行示例
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener
小海龟访真示例
ros2 run turtlesim turtlesim_node