1 设置Ubuntu镜像源为清华镜像源
1.1 备份source.list文件
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
1.2 更改文件权限
sudo chmod 777 /etc/apt/sources.list
1.3 使用vim编辑器打开 并删除原内容
sudo vim /etc/apt/sources.list
gg d G # 删除首行到尾行内容快捷键
1.4 访问清华镜像源并按照页面提示拷贝源代码至source.list
2 设置ros2获取链接
2.1 添加ros2的资源库密钥
sudo apt install curl gnupg2
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
!!! 若在此步骤出现以下错误:
curl:(7)Failed to connect to raw.githubusercontent.com port443:Connection refused
表面你的访问被墙了或者DNS域名解析被污染
解决:
1 访问域名解析工具网页 输入raw.githubusercontent
查看对应的IPv4地址
2 新开一个终端,进入到/etc/hosts
目录下,输入sudo vim /etc/hosts
打开,进入insert
模式,插入以下内容:
185.199.110.133 raw.githubusercontent.com
185.199.110.133 user-images.githubusercontent.com
185.199.110.133 avatars2.githubusercontent.com
185.199.110.133 avatars1.githubusercontent.com
保存退出后重试即可解决 若不行 尝试其余三个IP地址
2.2 将镜像链接加载进本地source.list目录
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt upgrade
2.3 执行安装
sudo apt install ros-humble-desktop
2.4 测试
source /opt/ros/humble/setup.bash
ros2 run turtlesim turtlesim_node
出现小海龟图片即成功 以后每次进入ros环境均要source一下setup.bash