ROS2开发笔记之ROS2 Humble环境安装
Ubuntu22.04安装ROS2 Humble (LTS)
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. 添加源
$ 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
> 国内用户,在上一步骤若失败可采用如下指令来解决:
$ sudo curl -sSL https://gitee.com/JCxiaohu/rosdistro/blob/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
3. 安装ROS2
$ sudo apt update
$ sudo apt upgrade
$ sudo apt install ros-humble-desktop
4. 设置环境变量
只在当前终端生效
$ source /opt/ros/humble/setup.bash
打开终端均生效
$ echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
5. 实例测试
$ ros2 run turtlesim turtlesim_node
$ ros2 run turtlesim turtle_teleop_key
6. 参考资料
-
https://book.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ros2_1
-
http://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
7. rosdep tool 安装功能包依赖(国内版)
安装
$ sudo apt-get install python3-pip
$ sudo pip3 install rosdepc$ sudo rosdepc init
$ rosdepc update
使用
cd <工作空间目录>
rosdepc install --from-paths src --ignore-src --rosdistro <ROS_DISTRO> -r -y
# = kinetic / melodic / noetic / ...
# or
rosdepc install --from-paths src --ignore-src -r -y
本文来自互联网用户投稿，文章观点仅代表作者本人，不代表本站立场，不承担相关法律责任。如若转载，请注明出处。 如若内容造成侵权/违法违规/事实不符，请点击【内容举报】进行投诉反馈！