基于Ubuntu的ros版本切换_ros2项目切换版本-CSDN博客

本文链接：https://blog.csdn.net/weixin_46495366/article/details/148225891

解决在同一个虚拟机中管理两个不同版本的ros
基于Ubuntu（20.04）
ros版本1和版本2的切换

前期准备：已经在Ubuntu中安装了两个版本的ros，这里以版本1的noetic和版本2的foxy为例

在bashrc中：

# ~/.bashrc: executed by bash(1) for non-login shells.
# see /usr/share/doc/bash/examples/startup-files (in the package bash-doc)
# for examples

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# If set, the pattern "**" used in a pathname expansion context will
# match all files and zero or more directories and subdirectories.
#shopt -s globstar

# make less more friendly for non-text input files, see lesspipe(1)
[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"

# set variable identifying the chroot you work in (used in the prompt below)
if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
    debian_chroot=$(cat /etc/debian_chroot)
fi

# set a fancy prompt (non-color, unless we know we "want" color)
case "$TERM" in
    xterm-color|*-256color) color_prompt=yes;;
esac

# uncomment for a colored prompt, if the terminal has the capability; turned
# off by default to not distract the user: the focus in a terminal window
# should be on the output of commands, not on the prompt
#force_color_prompt=yes

if [ -n "$force_color_prompt" ]; then
    if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
	# We have color support; assume it's compliant with Ecma-48
	# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
	# a case would tend to support setf rather than setaf.)
	color_prompt=yes
    else
	color_prompt=
    fi
fi

if [ "$color_prompt" = yes ]; then
    PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
else
    PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
fi
unset color_prompt force_color_prompt

# If this is an xterm set the title to user@host:dir
case "$TERM" in
xterm*|rxvt*)
    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
    ;;
*)
    ;;
esac

# enable color support of ls and also add handy aliases
if [ -x /usr/bin/dircolors ]; then
    test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
    alias ls='ls --color=auto'
    #alias dir='dir --color=auto'
    #alias vdir='vdir --color=auto'

    alias grep='grep --color=auto'
    alias fgrep='fgrep --color=auto'
    alias egrep='egrep --color=auto'
fi

# colored GCC warnings and errors
#export GCC_COLORS='error=01;31:warning=01;35:note=01;36:caret=01;32:locus=01:quote=01'

# some more ls aliases
alias ll='ls -alF'
alias la='ls -A'
alias l='ls -CF'

# Add an "alert" alias for long running commands.  Use like so:
#   sleep 10; alert
alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'

# Alias definitions.
# You may want to put all your additions into a separate file like
# ~/.bash_aliases, instead of adding them here directly.
# See /usr/share/doc/bash-doc/examples in the bash-doc package.

if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases
fi

# enable programmable completion features (you don't need to enable
# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
# sources /etc/bash.bashrc).
if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion
  fi
fi

# 清除 PYTHONPATH 以避免混合环境  
export PYTHONPATH=""

# ROS 版本切换  
export ROS_VERSION_CHOICE=1

if [ "$ROS_VERSION_CHOICE" = "1" ]; then  
    source /opt/ros/noetic/setup.bash  
    source /home/bingda/catkin_ws/devel/setup.bash # source ROS1工作空间
    # ROS1 相关别名  
    alias start_main_launch='cd ~/catkin_ws && roslaunch launch/main_launch.launch'  
elif [ "$ROS_VERSION_CHOICE" = "2" ]; then  
    source /opt/ros/foxy/setup.bash  
    if [ -f ~/colcon_ws/install/setup.bash ]; then  
        source ~/colcon_ws/install/setup.bash # source ROS2工作空间
    fi  
    # 可以在这里添加 ROS2 相关别名  
fi 

# 函数: 切换 ROS 版本
switchros() {

    # 先清除 PYTHONPATH 以避免混合环境  
    export PYTHONPATH=""

    if [ "$1" = "1" ] || [ "$1" = "ros1" ]; then  
        sed -i 's/^export ROS_VERSION_CHOICE=.*/export ROS_VERSION_CHOICE=1/' ~/.bashrc  
        echo "切换到 ROS1，请运行 'source ~/.bashrc' 使更改生效"  
    elif [ "$1" = "2" ] || [ "$1" = "ros2" ]; then  
        sed -i 's/^export ROS_VERSION_CHOICE=.*/export ROS_VERSION_CHOICE=2/' ~/.bashrc  
        echo "切换到 ROS2，请运行 'source ~/.bashrc' 使更改生效"  
    else  
        echo "用法: switchros {1|2|ros1|ros2}"  
    fi  
} 

# 添加一个全面的环境清理函数（可选）  
clean_ros_env() {  
    unset ROS_DISTRO  
    unset ROS_VERSION  
    unset ROS_PYTHON_VERSION  
    unset PYTHONPATH  
    unset CMAKE_PREFIX_PATH  
    unset AMENT_PREFIX_PATH  
    echo "ROS 环境变量已清理"  
}  

# 添加一个检查当前 ROS 环境的函数（可选）  
check_ros() {  
    echo "ROS 版本选择: $ROS_VERSION_CHOICE"  
    echo "ROS 发行版: $ROS_DISTRO"  
    echo "ROS Python 路径:"  
    echo $PYTHONPATH | tr ':' '\n'  
}