ROS2入门之开发环境搭建

1.拉取镜像

docker pull osrf/ros:humble-desktop-full

2.创建容器

docker run -it -v ~/workspace:/home/sunwenqi/workspace osrf/ros:humble-desktop-full /bin/bash

3.VS Code安装 Docker 与 Remote-Container 插件

4.选中docker->containers，找到刚刚创建的容器，右键弹出如上图的菜单，选择Attach VS Code

左下角的显示即说明我们已经在容器中了，选择打开文件夹，打开刚刚挂载的目录即可开始工作。
5.ROS2初体验
配置环境变量

source /opt/ros/humble/setup.bash

运行demo节点

ros2 run demo_nodes_cpp talker

新建一个终端，依次输入以下指令

source /opt/ros/humble/setup.bash
ros2 topic list
ros2 topic echo /chatter

回车可以看到输出信息

附录：VS Code配置

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/include/**",
                "/opt/ros/humble/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}