ubuntu22 安装ROS2

1.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

2.使能代码库

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

3.现在用apt添加带ROS 2 GPG关键字

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

4.将存储库添加到源列表中

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

5.安装ROS2 Iron

sudo apt update
sudo apt upgrade
sudo apt install ros-iron-desktop ros-iron-ros-base ros-dev-tools

6.ROS2测试

在terminal 1 运行下面的指令：

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

在terminal 2 运行下面的指令：

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

7.卸载

sudo apt remove ~nros-iron-* && sudo apt autoremove

删除存储库

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt updatesudo apt autoremovesudo apt upgrade

8.使用

您需要在打开的每个新 shell 上运行此命令才能访问 ROS 2 命令

source /opt/ros/iron/setup.bash

如果您不希望每次打开新 shell 时都必须获取安装文件，则可以将命令添加到 shell 启动脚本中：

echo "source /opt/ros/iron/setup.bash" >> ~/.bashrc

检查环境变量

printenv | grep -i ROS

ROS_VERSION=2

ROS_PYTHON_VERSION=3

ROS_DISTRO=iron