一、ROS2簡介
1.1、ROS2概述
ROS2版本
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Ubuntu版本
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Foxy
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Ubuntu20.04
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Galactic
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Ubuntu20.04
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Humble
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Ubuntu22.04
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1.2、ROS2特性
1.3、ROS2與ROS1的區別
二、ROS2安裝Foxy
2.1、設置語言環境
locale #檢查是否支持UTF-8 sudo apt update && sudo apt install locales sudo update-locale LC_ALL=en.US.UTF-8 Lang=en_US.UTF-8 export LANG=en_US.UTF-8 locale # 驗證是否設置成功
2.2、設置軟件源
sudo apt install software-properties-common sudo add-apt-repository universe
將ROS2 apt存儲庫添加到系統,用apt授權GPG密鑰
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
將存儲庫添加到源列表
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.lsit > /dev/null
2.3、安裝Foxy
2.4、配置環境
2.5、卸載ROS2
sudo apt remove ~nros-foxy-* && sudo apt autoremove
sudo rm /etc/apt/sources.list.d/ros2.list sudo apt update sudo apt autoremove sudo apt upgrade
三、ROS2集成開發環境搭建
3.1、Ubuntu安裝vscode
sudo apt update sudo apt install snapd sudo snap install --classic code
sudo apt install ubuntu-make umake --install code
3.2、安裝Git
sudo apt install git