ROS2+ubuntu-22.04.4安装

系统ubuntu-22.04.4 ，ros2版本ros-humble-desktop

1. 添加源

echo "deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

2.添加源对应的秘钥

sudo apt install curl gnupg2 -y
curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -

安装 

更新
sudo apt update

安装ROS2
sudo apt install ros-humble-desktop


安装额外依赖
sudo apt install python3-argcomplete -y

配置环境变量
source /opt/ros/humble/setup.bash


把ros2加入bashrc中。就是每次启动终端都让它自动的输入这句话。
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc


卸载
sudo apt remove ros-humble-*
sudo apt autoremove

安装目录

cd /opt/ros/humble/
ls

安装colcon

sudo apt-get install python3-colcon-common-extensions

安装xacro

sudo apt install ros-humble-xacro

参考链接：

• ROS2 镜像使用帮助：ros2 | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror
• ROS2官方文档：ROS 2 Documentation — ROS 2 Documentation: Humble documentation

文档教程 

Related Projects — ROS 2 Documentation: Jazzy documentation

动手学ROS2 (fishros.com)

仿真软件 

Installing Gazebo with ROS — Gazebo harmonic documentation (gazebosim.org)

Ubuntu 上的二进制安装 — Gazebo fortress documentation (gazebosim.org)

安装gazebo

安装gazebo
sudo apt install gazebo

安装ROS2的两轮差速功能包
sudo apt install ros-humble-gazebo-*

键盘控制工具
sudo apt install ros-humble-teleop-twist-keyboard
键盘控制工具启动
ros2 run teleop_twist_keyboard teleop_twist_keyboard

卸载

sudo apt remove gazebo && sudo apt autoremove

启动可视化工具rviz 命令

ros2 run rviz2 rviz2