ros2安装

参数

• ubuntu 22.04
• ros2-humble-desktop
  使用上一片树莓派4b安装腾讯镜像源，安装ros2

安装

   #0.设置编码
   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
   #1.密钥
   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
   #2.添加信源
   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
   #3.安装桌面版 : 包含ROS, RViz, demos, tutorials [推荐]
   sudo apt update && sudo apt upgrade
   sudo apt install ros-humble-desktop
   #4.环境配置
   source /opt/ros/humble/setup.bash
   echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc

   sudo apt install python3-argcomplete
   source /opt/ros/dashing/setup.sh
   #5.测试
   ros2 run demo_nodes_cpp listener
   ros2 run demo_nodes_cpp talker

密钥443问题

#curl: (7) Failed to connect to raw.githubusercontent.com port 443 after 243 ms: 拒绝连接
sudo vim /etc/hosts
	199.232.28.133 raw.githubusercontent.com