ROS2系统安装

原创已于 2024-11-05 10:25:36 修改 · 477 阅读

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#ubuntu #自动驾驶 #linux

于 2022-08-22 09:28:33 首次发布

ROS2系统安装
接下来，我们就可以把ROS2安装到Ubuntu系统中了。安装步骤如下：

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
添加源和密钥
$ 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
$ echo “deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main” | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
注意：如遇报错“Failed to connect to raw.githubusercontent.com”，可参考https://www.guyuehome.com/37844
安装ROS2
$ sudo apt update
$ sudo apt upgrade
装gatactic版本时：
sudo apt install ros-galactic-desktop
sudo apt install ros-galactic-ros-base
设置环境变量
$ source /opt/ros/galactic/setup.bash
$ echo " source /opt/ros/galactic/setup.bash" >> ~/.bashrc
ROS2示例测试
先来试试ROS2最为重要的底层通信系统DDS是否正常吧。
启动第一个终端，通过以下命令启动一个数据的发布者节点：
$ ros2 run demo_nodes_cpp talker
启动第二个终端，通过以下命令启动一个数据的订阅者节点：
$ ros2 run demo_nodes_py listener
示例二：小海龟仿真示例
$ ros2 run turtlesim turtlesim_node
$ ros2 run turtlesim turtle_teleop_key

ros2安装相关的

https://blog.youkuaiyun.com/amuro_ray027/article/details/117807412?spm=1001.2014.3001.5506

sudo apt-get update出现W: GPG 错误：http://packages.ros.org/ros/ubuntu xenial InRelease: 由于没有公钥，无法验证下列签名：
—>
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

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源码编译安装方法
https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#get-ros-2-code
That is because of version of python. Try following to change default to python3

$ sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.8 0