ubuntu 22.04安装 ROS2 (清华源)

下载 ROS 的 GPG Key：

sudo apt install curl gnupg2
sudo curl -sSL https://mirror.ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyri

添加ROS源

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

桌面安装（推荐）：ROS、RViz、演示、教程。

sudo apt upgrade
sudo apt install ros-humble-desktop