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

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)

首先安装一些必要的工具：

sudo apt-get update
sudo apt-get install lsb-release gnupg

安装 Ignition Fortress

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

sudo apt-get update

#官方安装命令   sudo apt-get install ignition-fortress

sudo apt-get install gazebo

卸载

sudo apt remove ignition-fortress && sudo apt autoremove