ROS2开发笔记之ROS2 Humble环境安装

JCxiaohu

已于 2022-06-07 01:47:15 修改

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分类专栏：移动机器人技术文章标签：自动驾驶 ubuntu bash 人工智能

于 2022-06-07 01:45:48 首次发布

本文链接：https://blog.csdn.net/weixin_41312228/article/details/125157773

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Ubuntu22.04安装ROS2 Humble (LTS)

1. 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

2. 添加源

$ 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 
> 国内用户,在上一步骤若失败可采用如下指令来解决:
$ sudo curl -sSL https://gitee.com/JCxiaohu/rosdistro/blob/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

3. 安装ROS2

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

4. 设置环境变量

只在当前终端生效

$ source /opt/ros/humble/setup.bash

打开终端均生效

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

5. 实例测试

$ ros2 run turtlesim turtlesim_node

$ ros2 run turtlesim turtle_teleop_key

6. 参考资料

https://book.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ros2_1
http://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

7. rosdep tool 安装功能包依赖(国内版)

安装

$ sudo apt-get install python3-pip 
$ sudo pip3 install rosdepc

$ sudo rosdepc init
$ rosdepc update

使用

cd <工作空间目录>
rosdepc install --from-paths src --ignore-src --rosdistro <ROS_DISTRO> -r -y
# <ROS_DISTRO> = kinetic / melodic / noetic / ...
# or
rosdepc install --from-paths src --ignore-src -r -y