Nano入门教程软件篇-安装ROS2 crystal 版本
Nano入门教程软件篇-安装ROS2 crystal 版本
说明:
- 介绍如何在Nano上安装ROS2 crystal
ROS2安装:
- 添加ROS2源
$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -
$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
- 更新包
$ export CHOOSE_ROS_DISTRO=crystal
$ sudo apt update
- 安装ROS2桌面版
$ sudo apt install ros-$CHOOSE_ROS_DISTRO-desktop
环境配置:
- 安装argcomplete
$ sudo apt install python3-argcomplete
- 增加脚本到bashrc文件
$ echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
- 增加其他RMW实现,默认是FastRTPS
$ sudo apt update
$ sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-opensplice-cpp # for OpenSplice
$ sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-connext-cpp # for RTI Connext (requires license agreement)
- 通过配置环境变量RMW_IMPLEMENTATION=rmw_opensplice_cpp 来指定具体的RMW opensplice实现
- 通过配置环境变量RMW_IMPLEMENTATION=rmw_connext_cpp来指定具体的 RTI Connext实现
安装ros1-bridge:
- 安装脚本
$ sudo apt update
$ sudo apt install ros-$CHOOSE_ROS_DISTRO-ros1-bridge
安装turtlebot2 Bouncy版本
- 安装脚本
$ sudo apt install ros-$CHOOSE_ROS_DISTRO-turtlebot2-*
- 目前只支持 Bouncy版本,还没支持Crystal版本
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