ROS2 Foxy Ubuntu 20.04 (Focal Fossa)安装教程

1. 设置语言环境

sudo apt update && sudo apt install locales
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
locale

2. 设置DEB软件源

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. 安装开发工具和依赖

sudo apt update && sudo apt install -y \
  build-essential \
  python3 -m pip install -U \
  argcomplete \
  flake8-blind-except \
  flake8-builtins \
  flake8-class-newline \
  flake8-comprehensions \
  flake8-deprecated \
  flake8-docstrings \
  flake8-import-order \
  flake8-quotes \
  pytest-repeat \
  pytest-rerunfailures \
  pytest

sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev cmake \
  git \
  libbullet-dev \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-pip \
  python3-pytest-cov \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

sudo apt install --no-install-recommends -y \
  libcunit1-dev

4. 安装ROS2 foxy桌面版本

sudo apt install ros-foxy-desktop
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
printenv | grep -i ROS
sudo rosdep init
sudo rosdep update

5. 运行示例

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener