ROS2环境配置

基本环境安装
1、打开shell窗口

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-8export LANG=en_US.UTF-8
locale # verify settings
2、设置源

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

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

3、安装ROS2

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

4、安装dev工具

sudo apt install ros-dev-tools
Ros2_control安装
1、source Ros2资源
source /opt/ros/humble/setup.bash
2、创建ROS2_control工作空间
mkdir -p ~/ros2_control_ws/srccd ~/ros2_control_ws/
wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/ros_controls.$RO{S}_{D}ISTRO.reposvcsimportsrc<ro{s}_{c}ontrols.$ROS_DISTRO.repos

3、安装依赖包
rosdep update --rosdistro=$ROS_DISTRO
sudo apt-get update
rosdep install --from-paths src --ignore-src -r -y

4、编译ROS2_control
. /opt/ros/${ROS_DISTRO}/setup.sh
colcon build --symlink-install

5.相关报错
彻底解决 NO_PUBKEY 报错
sudo rm /etc/apt/sources.list.d/ros2.list
echo “deb [arch=$(dpkg --print-architecture) trusted=yes] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main” | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers -y