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推荐在Ubuntu22.04LTS(Jammy)上使用,系统安装完毕后,需要安装ROS2,推荐用ros2-humble,全部的ROS2的安装可以参考教程:ROS 2 Documentation — ROS 2 Documentation: Humble documentation。 在正式编译fairino_hardware前,还需要安装官方ros2_control包,全部的ros2_control安装可以参考教程:Welcome to the ros2_control documentation - Humble! — ROS2_Control: Humble Jul 2025 documentation。官方提供两种ros2_control安装方式,分别为指令安装方式和源码编译安装方式,由于指令安装方式可能会导致功能包安装不全,故推荐使用源码编译安装方式。
下面对ROS2(humble)的过程详细阐述:
1.打开shell窗口
1locale # check for UTF-8 2 3sudo apt update && sudo apt install locales 4sudo locale-gen en_US en_US.UTF-8 5sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 6export LANG=en_US.UTF-8 7 8locale # verify settings
2.设置源
1sudo apt install software-properties-common 2sudo add-apt-repository universe 3 4sudo apt update && sudo apt install curl -y 5sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 6 7echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
3.安装ROS2
1sudo apt update 2sudo apt upgrade 3sudo apt install ros-humble-desktop
4.最后安装dev工具
1sudo apt install ros-dev-tools
下面对ros2_control的安装过程详细阐述:
1.首先source ROS2的资源
1source /opt/ros/humble/setup.bash
2.创建ros2_control工作空间,下载资源
1mkdir -p ~/ros2_control_ws/src 2cd ~/ros2_control_ws/ 3wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/ros_controls.$ROS_DISTRO.repos 4vcs import src < ros_controls.$ROS_DISTRO.repos
3.安装依赖包
1rosdep update --rosdistro=$ROS_DISTRO 2sudo apt-get update 3rosdep install --from-paths src --ignore-src -r -y
4.编译ros2_control
1. /opt/ros/${ROS_DISTRO}/setup.sh 2colcon build --symlink-install