ubuntu20.04安装ros2

1.ubuntu更换国内清华源，编辑 /etc/apt/sources.list文件，默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
预发布软件源，不建议启用
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse

2.下载密钥

sudo apt install curl gnupg2 -y
curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -

3.导出系统

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

4.更新

sudo apt update

5.安装ros2

sudo apt install ros-foxy-desktop

6.安装依赖项

sudo apt install python3-argcomplete -y

7.配置环境变量

source /opt/ros/foxy/setup.bash
(可选操作)或者直接永久加入环境
echo “source /opt/ros/foxy/setup.bash” >> ~/.bashrc

8.安装colcon编译器

sudo apt-get install python3-colcon-common-extensions

卸载ros2

sudo apt remove ros-foxy-* && sudo apt autoremove