linux下安装ROS2步骤

 设置语言环境

$ 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

添加密钥

$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -

将存储库添加到源列表

$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

安装ROS2

$ sudo apt update && sudo apt install ros-dashing-desktop

20.04-> sudo apt install ros-foxy-desktop

安装argcomplete

$ sudo apt install python3-argcomplete

环境变量

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

20.04->source /opt/ros/foxy/setup.bash

 如果有安装ROS1，会提示一个警告,

sudo apt install python3-argcomplete(安装自动补齐工具)

运行测试：

talker:

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

listener:

source /opt/ros/foxy/setup.bash

ros2 run demo_nodes_py listener