ROS2入门教程-在ubuntu20.04下apt安装ros2版本galactic

ROS2入门教程-在ubuntu20.04下apt安装ros2版本galactic

说明：

• 介绍如何安装ros2版本galactic
• 测试环境：nuc 系统：ubuntu20.04

步骤：

• 支持utf字符

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

• 更新APT源

rm superupdate.sh ; wget https://gitee.com/ncnynl/linux-scripts/raw/master/superupdate.sh ; sudo chmod +x ./superupdate.sh; sudo ./superupdate.sh aliyun

• 增加key
• 下载密钥

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://mirrors.tuna.tsinghua.edu.cn/rosdistro/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• 增加ros源到源列表

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

• 安装ros包
• 更新软件列表

sudo apt update

• 安装galactic桌面版本

sudo apt install ros-galactic-desktop

• 加载环境

source /opt/ros/galactic/setup.bash

• 安装自动补全

sudo apt install python3-argcomplete

• 安装colcon和pip

sudo apt install python3-pip
sudo apt install python3-colcon-common-extensions

测试：

• 新开终端，运行发布话题

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker

• 新开终端，运行订阅话题

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_py listener

删除：

• 命令：

sudo apt remove ~nros-galactic-* && sudo apt autoremove 

• 删除配置

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove