ros2安装

环境

　　Ubuntu22.04 jarmmy

　　ROS2 humble

UBuntu安装

　略

配置环境

更换raw.githubusercontent.com IP　　　

sudo gedit /etc/hosts

插入这段内容，防止github访问失败

185.199.108.133 raw.githubusercontent.com

保存退出

 

清空无关源

在换源后可能出现无关源，新建终端输入

cd /etc/apt/sources.list.d
ls

删除类似ros.list非ros2.list的文件，没有就别管

sudo rm -r ros.list

 

 更换清华源

按以下链接照做即可

https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/

 

安装ROS2

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

 

查询仓库是否可达

apt-cache policy | grep universe

若没有任何响应，输入

sudo apt install software-properties-common
sudo add-apt-repository universe

 

设置密钥

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

 

添加仓库

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

 安装各种工具包

sudo apt update && sudo apt install -y \
  build-essential \
  cmake \
  git \
  python3-colcon-common-extensions \
  python3-flake8 \
  python3-flake8-blind-except \
  python3-flake8-builtins \
  python3-flake8-class-newline \
  python3-flake8-comprehensions \
  python3-flake8-deprecated \
  python3-flake8-docstrings \
  python3-flake8-import-order \
  python3-flake8-quotes \
  python3-pip \
  python3-pytest \
  python3-pytest-cov \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

 

更新APT

sudo apt update

sudo apt upgrade

 

安装humbleROS

完整版，包含实例，小乌龟

sudo apt install ros-humble-desktop

基础版

sudo apt install ros-humble-ros-base

 

配置终端自动加载

打开新终端，输入

gedit ~/.bashrc

打开文件的最后一行添加

source /opt/ros/humble/setup.bash

保存退出，这样每次启动终端都会自动引入资源