Windows 下 WSL2 安装 ROS2 Iron 和 GAZEBO

系列文章目录

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前言

前提：已经安装好了 WSL 2 并且能够正常运行

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一、系统设置

1.1 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

1.2 启用所需的存储库

sudo apt install software-properties-common
sudo add-apt-repository universe

添加 ROS2 GPG：

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

添加清华源镜像;：

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

二、安装ROS2 及 GAZEBO

2.1. 安装 ROS2

sudo apt install ros-iron-desktop-full

添加 source 命令

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/iron/setup.bash

2.2. 安装GAZEBO

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /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
sudo apt-get install gz-harmonic

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