一、ROS2简介
1.1、ROS2概述
ROS2版本
|
Ubuntu版本
|
Foxy
|
Ubuntu20.04
|
Galactic
|
Ubuntu20.04
|
Humble
|
Ubuntu22.04
|
1.2、ROS2特性
1.3、ROS2与ROS1的区别
二、ROS2安装Foxy
2.1、设置语言环境
locale #检查是否支持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 # 验证是否设置成功
2.2、设置软件源
sudo apt install software-properties-common sudo add-apt-repository universe
将ROS2 apt存储库添加到系统,用apt授权GPG密钥
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
将存储库添加到源列表
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、安装Foxy
2.4、配置环境
2.5、卸载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集成开发环境搭建
3.1、Ubuntu安装vscode
sudo apt update sudo apt install snapd sudo snap install --classic code
sudo apt install ubuntu-make umake --install code
3.2、安装Git
sudo apt install git