conda安装ros1或者ros2

基于conda安装ros版本：

1. 基于高性能的mamba包工具进行管理:

conda install mamba -c conda-forge

2. 创建虚拟环境，以及设置下载ros的通道号

mamba create -n ros
mamba activate ros

# this adds the conda-forge channel to the new created environment configuration 
conda config --env --add channels conda-forge
# and the robostack channel
conda config --env --add channels robostack-staging
# remove the defaults channel just in case, this might return an error if it is not in the list which is ok
conda config --env --remove channels defaults

3. 安装ros1或者ros2

# Install ros-noetic into the environment (ROS1)
mamba install ros-noetic-desktop

# Install ros-humble into the environment (ROS2)
mamba install ros-humble-desktop

4. 重新激活ros虚拟环境

mamba deactivate
mamba activate ros

5. 安装编译工具:

mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools rosdep

6. 测试安装成功与否:

ros1:

mamba activate ros
roscore &
rviz

ros2：

mamba activate ros
rviz2

mamba 更新操作:

mamba update --all