Moveit2 isntall ————galactic version

1.Install ROS2_galactic
https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
Use ubuntu20.4 can use this illustration Installing ROS 2 via Debian Packages
attention
you will meet the problem to visit https://raw.githubusercontent.com/ros/rosdistro/master/ros.key,“can’t connetct”,you can and prefix https://

2.Install Moveit2 !
https://moveit.picknik.ai/galactic/doc/tutorials/getting_started/getting_started.html this website i used is can be true
attention
1.if you can’t download git clone ,please add that prefixhttps://
2.vcs import < moveit2_tutorials/moveit2_tutorials.reposthis is a big problem
you should find this file called _.repos,and change the website address +prefix like before, and you will meet the next problem You are in ‘detached HEAD ,you should create a new branch (now i don’t know the mean) ,just rungit switch -c <new name > and run again this code .
3. run this rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -ycode ,you maybe can’t success , you can change the “rosdep” to “rosdepc”,if you don’t install it just visit this websitehttps://zhuanlan.zhihu.com/p/398754989.
4.the vety difficult thing is coming, run colcon build --mixin release,i use the “VMware”,so it so slow to finish it and you will meet stop the process,you should rerun this code again and again,finally, you will success

5. the official website said the setuo.sh in source ~/ws_moveit2/install/setup.bash,but i am in source ~/ws_moveit2/src/install/setup.bash,i don’t konw why ,but it’s ok ,we should compile it in our bashrcecho 'source ~/ws_moveit2/src/install/setup.bash' >> ~/.bashrc
   6.now,you frist source ros2 and sorce moveit2 ,and run ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true you will success!!!加粗样式