Ubuntu22.04安装ROS2
设置语言环境
检查是否支持UTF-8编码
locale
启动Ubuntu universe存储库
打开软件和更新
设置软件源
sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
安装ROS2
更新apt存储库缓存
sudo apt update
然后升级已安装的软件
sudo apt upgrade
安装桌面版ROS2 包含:ROS、RViz、示例与教程,安装命令如下:
sudo apt install ros-humble-desktop
配置环境
终端下,执行ROS2程序时,需要调用如下命令配置环境:
source /opt/ros/humble/setup.bash
每次新开终端时,都得执行上述命令,或者也可以执行如下命令,将配置环境指令写入 ”~/.bashrc“ 文件,那么每次新启动终端时,不需要在手动配置环境:
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
到目前为止,ROS2就已经安装且配置完毕了。
验证安装成功
终端输入
打开小乌龟GUI界面
ros2 run turtlesim turtlesim_node
控制小乌龟运动
ros2 run turtlesim turtle_teleop_key