Ubuntu20.04安装ROS2 Foxy

相比ROS1，ROS2更加稳定，而且更适合直接布署。因此我们有必要在ROS1的基础上继续学习ROS2，安装完ROS1之后，可以同时安装ROS2进行学习。

一、按照官网教程安装

官网链接：https://docs.ros.org/en/foxy/Installation.html

1. 确保系统支持UTF-8

locale   # 检查系统语言环境
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

2. 设置软件源

sudo apt update
sudo apt install curl  # 安装curl
# 添加ROS2 GPG密钥
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
# 添加软件源
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

3. 安装ROS2

sudo apt update  # 更新apt软件源
sudo apt install ros-foxy-desktop  # 安装ROS2
sudo apt install python3-colcon-common-extensions

4. 环境配置

source /opt/ros/foxy/setup.bash

5. 安装自动补全工具和开发工具

sudo apt update
sudo apt install python3-argcomplete
sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp
sudo apt install ros-dev-tools

6. 安装ROS1转换bridge

sudo apt install ros-foxy-ros1-bridge

7. 测试

(1) 发布和订阅

# 终端1
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

# 终端2
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener

(2) 小海龟仿真器

ros2 run turtlesim turtlesim_node      # 启动小海龟仿真器
ros2 run turtlesim turtle_teleop_key   # 键盘控制

8. ROS1和ROS2混合配置

sudo gedit ~/.bashrc
# 添加以下内容
# source /opt/ros/noetic/setup.bash
echo "ros noetic(1) or ros2 foxy(2)?"
read edition
if [ "$edition" -eq "1"];then
	source /opt/ros/noetic/setup.bash
else
	source /opt/ros/foxy/setup.bash
fi

二、卸载

sudo apt remove ~nros-foxy-* && sudo apt autoremove
# 删除源
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove

三、ROS1与ROS2命令

参考

[1] Ubuntu20.04 ROS1和ROS2同时安装及使用