Ubuntu22.04 ROS2 Iron 安装Moveit2

直接在终端复制就行，

1、更新版本

sudo apt update
sudo apt dist-upgrade
rosdep update

2、添加到source

source /opt/ros/$ROS_DISTRO/setup.bash

3、要卸载多余的moveit2

sudo apt remove ros-$ROS_DISTRO-moveit*

4、创建工作空间

export COLCON_WS=~/ws_moveit2/
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src

5、下载

git clone https://github.com/moveit/moveit2.git -b $ROS_DISTRO
for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

6、安装CycloneDDS

sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

7、编译（这一步的时间比较长，耐心等待）

cd $COLCON_WS
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

8、source

source $COLCON_WS/install/setup.bash

参考链接：

MoveIt 2 Source Build - Linux | MoveIt