ROS2官網：https://index.ros.org/doc/ros2/
https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/
設置本地環境
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.設置軟件源
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
3.通過二進制形式安裝
sudo apt update
sudo apt install ros-dashing-desktop
4.安裝一些ROS2開發工具和ros2工具
sudo apt update && sudo apt install -y \ build-essential \ cmake \ git \ python3-colcon-common-extensions \ python3-pip \ python-rosdep \ python3-vcstool \ wget # install some pip packages needed for testing python3 -m pip install -U \ argcomplete \ flake8 \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-docstrings \ flake8-import-order \ flake8-quotes \ pytest-repeat \ pytest-rerunfailures \ pytest \ pytest-cov \ pytest-runner \ setuptools # install Fast-RTPS dependencies sudo apt install --no-install-recommends -y \ libasio-dev \ libtinyxml2-dev # install CycloneDDS dependencies sudo apt install --no-install-recommends -y \ libcunit1-dev
5.安裝自動補全功能包
sudo apt install python3-pip
sudo apt install python3-argcomplete
sudo activate-global-python-argcomplet
6.將環境變量聽加到bashrc文件中去
echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
編寫demo包並測試，官方代碼連接
https://index.ros.org/doc/ros2/Tutorials/Creating-Your-First-ROS2-Package/
https://index.ros.org/doc/ros2/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber/
cmakelist文件內容如下： （這裏我把PROJECT_NAME寫錯導致了下面的運行錯誤，沒有可執行文件）
cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)
# Default to C99
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)
add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
install(TARGETS
talker
listener
DESTINATION lib/${PROJECT_NAME})
ament_package()
http://docs.ros2.org/dashing/api/rclcpp/
