目录
最近发现ROS2是个很有意思的东西,可能是后面一段时期研究的重点,开展学习很有必要。然而,学习的第一步,就是安装这一系统。网上有很多资料,但在我这里好像或多或少有问题,摸索了一晚上,终于成功。记录在这里防止下次用到。
一、更换源
平时一直用的中科大的源,但装ros2总是有问题。最后换成aliyun的源。具体做法:
第一步,打开文件
sudo gedit /etc/apt/sources.list
这里当然可以用vim,但gedit它不香?没有的话,sudo apt install gedit下载即可。
第二步,直接用下面的信息替换文档内容
deb http://mirrors.aliyun.com/ubuntu/ jammy main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ jammy-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ jammy-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ jammy-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ jammy-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ jammy main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ jammy-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ jammy-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ jammy-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ jammy-backports main restricted universe multiverse
二、设定环境
locale
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
三、添加源
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y 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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
四、安装
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
五、配置环境
source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc
六、试试乌龟模拟器
ros2 run turtlesim turtlesim_node
如果没有意外,应该是下面的模样
海龟的样子和颜色随机。为了让它移动起来,新开一个终端,输入:
source /opt/ros/humble/setup.sh
ros2 run turtlesim turtle_teleop_key
一定要在这个终端用鼠标点一下,变为当前活动窗口
键盘上的上下左右箭头控制乌龟移动,用GBVCDERT控制不同方向的旋转。
完毕。