Ubuntu20.04安装ROS2 Foxy

设置编码

locale  # check for UTF-8
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  # verify settings

设置源

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

解决国内无法获取密钥的问题

sudo gedit /etc/hosts

在最后添加

185.199.108.133  raw.githubusercontent.com

获取密钥

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

更新一下

sudo apt update

安装ROS2和开发工具

sudo apt-get install ros-foxy-desktop
sudo apt install ros-dev-tools

设置终端环境

sudo gedit ~/.bashrc

在末尾加入一行

source /opt/ros/foxy/setup.bash

测试

起一个终端执行：

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

另起一个终端执行：

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener

结果应该如：