ubuntu20.04 安装ros2_humble(加速版)

以下内容参考
【ubuntu20.04 安装ros2_humble】_大家好我是C妙蛙的博客-CSDN博客
并对该过程进行了加速处理，如使用魔法，请忽略。

1、检查UTF-8编码

#检查是否为UTF-8编码，是则跳过！
locale  

#非UTF-8 执行下列命令
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

#验证是否设置成功
locale  

2、修改软件源为清华源 并打开源代码

清华源配置地址：[https://mirror.tuna.tsinghua.edu.cn/help/ubuntu-ports/](https://mirror.tuna.tsinghua.edu.cn/help/ubuntu-ports/)
修改/etc/apt/sources.list为

    # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
	deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
	deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal main restricted universe multiverse
	deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
	deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-updates main restricted universe multiverse
	deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse
	deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-backports main restricted universe multiverse

	# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse
	# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-security main restricted universe multiverse

	deb http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse
	deb-src http://ports.ubuntu.com/ubuntu-ports/ focal-security main restricted universe multiverse

	# 预发布软件源，不建议启用
	# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse
	# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ focal-proposed main restricted universe multiverse

3、添加带有apt的ROS 2 GPG密钥

sudo apt update && sudo apt install curl
sudo curl -sSL https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

4、将存储库添加到源列表中

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

5、安装通用软件包

sudo apt update && sudo apt install -y python3-flake8-docstrings python3-pip python3-pytest-cov ros-dev-tools
python3 -m pip install -U flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-import-order flake8-quotes "pytest>=5.3" pytest-repeat pytest-rerunfailures -i https://pypi.tuna.tsinghua.edu.cn/simple

6、获取ROS2源码

mkdir -p ~/ros2_humble/src
cd ~/ros2_humble

修改git 代理并获取ros2 humble源代码

git config --global url."https://ghproxy.com/https://github.com".insteadof https://github.com
vcs import --input https://ghproxy.com/https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

7、安装rosdepc并安装依赖

sudo pip3 install rosdepc -i https://pypi.tuna.tsinghua.edu.cn/simple
sudo rosdepc init
rosdepc update
rosdepc install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

8、编译

cd ~/ros2_humble/
colcon build --symlink-install

9、设置环境变量到~/.bsahrc中

sudo echo "source ~/ros2_humble/install/setup.bash"  >>  ~/.bashrc

10、运行示例

新建终端1

ros2 run demo_nodes_cpp talker

新建终端2

ros2 run demo_nodes_py listener