Ros2环境搭建

Ros2环境搭建

网上有好多教程，我这里记录一下自己安装过程

• 设置编码

  $ 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
  

• 添加源

  通过检查此命令的输出，确保已启用Ubuntu Universe存储库。
  
  $ apt-cache policy | grep universe
  
  输出应如下：
  
  500 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages
       release v=22.04,o=Ubuntu,a=jammy-security,n=jammy,l=Ubuntu,c=universe,b=amd64
  
  若没有看到像上面这样的输出行，依次执行如下命令：
  
  $ sudo apt install software-properties-common
  $ sudo add-apt-repository universe
  
  继续执行如下命令：
  $ 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
  
  $ sudo curl -sSL https://raw.gitmirror.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
  

  如果遇到报错“ailed to connect to raw.githubusercontent.com port 443 after 13 ms: 拒绝连接”
  可参考https://www.guyuehome.com/37844

  处理方法1:

  直接把http://raw.githubusercontent.com换成raw.gitmirror.com(raw.githubusercontent.com的镜像网站)即可(后面的不用变)

  处理方法2:

  sudo vi /etc/hosts
  #####################
  127.0.0.1	localhost
  127.0.1.1	iron-virtual-machine
  ###增加下面的解析
  185.199.108.133  raw.githubusercontent.com
  

• 安装ROS2

  $ sudo apt update
  $ sudo apt upgrade
  $ sudo apt install ros-humble-desktop
  

• 设置环境变量

  $ source /opt/ros/humble/setup.bash
  $ echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc
  

• 测试

  $ ros2 run demo_nodes_cpp talker
  $ ros2 run demo_nodes_py listener
  
  $ ros2 run turtlesim turtlesim_node
  $ ros2 run turtlesim turtle_teleop_key