Ubuntu22.04 + ROS2 Humble的环境配置

Ubuntu22.04 + ROS2 Humble的环境配置

参考官方网站ROS2-Installation

ROS2的各种版本及维护计划，可以参考ROS2-List of Distributions

(1) Set locale

首先检查UTF-8的支持情况

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

(2) Setup Sources

然后添加apt源，

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

同时添加GPG-key

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

然后将下列仓库添加到源列表中

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

(3)安装ROS2

首先进行upgrade确保是最新的环境，

sudo apt update

sudo apt upgrade

然后，选择是否部分安装，这边建议安装desktop版本，这就包含一些常用工具的安装比如RViz, Gazebo等，这里就保留官方的解释：

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-humble-ros-base

Development tools: Compilers and other tools to build ROS packages

sudo apt install ros-dev-tools

经过漫长的等待，终于安装成功了。然后添加环境变量，这样就避免了每次都手动source

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

(4)检查是否成功安装

启动那个经典的turtle_sim海龟模拟器，

ros2 run turtlesim turtlesim_node

然后新建另一个终端，

ros2 run turtlesim turtle_teleop_key

在这个终端里就能够用键盘的方向键来控制海龟的移动了。