【ubuntu20.04 安装ros2_humble】

系统版本：

Ubuntu 20.04.5

系统配置：

#检查是否为UTF-8编码，是则跳过！
locale  


#非UTF-8 执行下列命令
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

#验证是否设置成功
locale  

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添加ROS 2 apt存储库

图形界面设置更清晰方便

将可从互联网下载下面四个选项勾选上，没换源的直接换上中科大的镜像源，挺好用！

添加带有apt的ROS 2 GPG密钥

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

拒绝访问连接解决方法

sudo gedit /etc/hosts

# 添加
185.199.108.133  raw.githubusercontent.com

将存储库添加到源列表中

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

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安装开发工具和ROS工具

安装通用软件包

sudo apt update && sudo apt install -y \
  python3-flake8-docstrings \
  python3-pip \
  python3-pytest-cov \
  ros-dev-tools

安装Ubuntu20.04所需软件包

python3 -m pip install -U \
   flake8-blind-except \
   flake8-builtins \
   flake8-class-newline \
   flake8-comprehensions \
   flake8-deprecated \
   flake8-import-order \
   flake8-quotes \
   "pytest>=5.3" \
   pytest-repeat \
   pytest-rerunfailures

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获取ROS2源码：

mkdir -p ~/ros2_humble/src
cd ~/ros2_humble
vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

用rosdep安装依赖

sudo apt upgrade

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

提示：[sudo rosdep init 失败解决方案](https://blog.csdn.net/zsl1373/article/details/119790253?spm=1001.2014.3001.5502)

编译

cd ~/ros2_humble/
colcon build --symlink-install

提示：编译过程中如果也需要从github中下载，保持网络通常

设置环境变量到~/.bsahrc中：

sudo echo "source ~/ros2_humble/install/setup.bash"  >>  ~/.bashrc

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运行示例

新建终端1

ros2 run demo_nodes_cpp talker

新建终端2

ros2 run demo_nodes_py listener

能够接发出或者接收到消息即安装成功

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