Ubuntu20.04.3 LTS 安装 ROS2-foxy 详细笔记&避坑指南（2021.10.13）

Ubuntu20.04.3 LTS 安装 ROS2-foxy 详细笔记&避坑指南

ROS2 源码编译

#以官方文档安装顺序为主，该博客主要基于Amd64架构，ARM64架构尝试过jetson xaiver nx(jetpack4.6)装dashing版本，有空再更新。
ros-foxy 英文官方文档

1）系统设置

1、设置语言环境

locale # check for UTF-8

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

locale # verify settings

2、添加ROS2 apt 库

#apt 授权GPG密钥

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

#添加到源列表

echo “deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main” | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

#安装开发工具和ROS工具（四个部分，分别copy进terminal）

sudo apt update && sudo apt install -y
build-essential
cmake
git
libbullet-dev
python3-colcon-common-extensions
python3-flake8
python3-pip
python3-pytest-cov
python3-rosdep
python3-setuptools
python3-vcstool
wget

#install some pip packages needed for testing
python3 -m pip install -U
argcomplete
flake8-blind-except
flake8-builtins
flake8-class-newline
flake8-comprehensions
flake8-deprecated
flake8-docstrings
flake8-import-order
flake8-quotes
pytest-repeat
pytest-rerunfailures
pytest

#install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y
liba