ROS2安装

Ubuntu 换源

针对国内用户，为了避免DNS污染，在ubuntu中打开终端输入：

sudu nano /etc/hosts

添加以下内容后按Ctrl+X进行保存：

185.199.111.133 raw.githubusercontent.com
185.199.110.133 raw.githubusercontent.com
185.199.109.133 raw.githubusercontent.com
185.199.108.133 raw.githubusercontent.com
199.232.28.133 raw.githubusercontent.com
20.205.243.166 github.com

接着输入：

sudo nano /etc/apt/sources.list

将文件中的所有 http://cn.archive.ubuntu.com 替换为 http://mirrors.aliyun.com

添加 ROS2 软件源

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

如果执行第二句时报错：gpg:no valid OpenPGP data found
解决办法：上述命令中有管道符号，curl是个类似下载的命令，因此尝试将上述命令分成两步来执行

curl -s https://raw.githubuserconten.com/ros/rosdistro/master/ros.asc
sudo apt-key add -

安装 ROS2 Humble

先更新系统软件

sudo apt-get update
sudo apt install libgbm1（此处是数字1）

安装ros2，版本是humble桌面版

sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-humble-ros-base

Development tools: Compilers and other tools to build ROS packages

sudo apt install ros-dev-tools

测试

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

ros2 run turtlesim turtlesim_node       # 启动乌龟GUI节点界面，乌龟可以在界面中运动
ros2 run turtlesim turtle_teleop_key    # 启动键盘控制节点，可以通过键盘控制乌龟运动

设置环境变量

把ros2加入到系统默认的环境中，这样就不用每次启动终端时都要source了。

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