Ubuntu (deb 包)

ROS 2 Rolling Ridley 的 Deb 软件包目前可用于 Ubuntu Jammy (22.04)。目标平台在 REP 2000 中定义。

资源 

状态页：
- ROS 2 Rolling (Ubuntu Jammy): amd64, arm64
Jenkins Instance
Repositories

Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

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

设置源 

You will need to add the ROS 2 apt repository to your system.

First ensure that the Ubuntu Universe repository is enabled.

sudo apt install software-properties-common
sudo add-apt-repository universe

Now add the ROS 2 GPG key with apt.

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

Then add the repository to your sources list.

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.list > /dev/null

安装 ROS 2 软件包 

设置存储库后，更新您的 apt 存储库缓存。

sudo apt update

ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade

Warning

由于 Ubuntu 22.04 中的早期更新，在安装 ROS 2 之前更新“systemd”和“udev”相关软件包非常重要。在新安装的系统上安装 ROS 2 的依赖项而不进行升级可能会触发**删除关键系统软件包**。

Please refer to ros2/ros2#1272 and Launchpad #1974196 for more information.

桌面安装（推荐）：ROS、RViz、演示、教程。

sudo apt install ros-rolling-desktop

ROS-Base 安装（基本内容）：通信库、消息包、命令行工具。无 GUI 工具。

sudo apt install ros-rolling-ros-base

开发工具：编译器和其他用于构建 ROS 包的工具

sudo apt install ros-dev-tools

环境设置 

获取安装脚本 

通过获取以下文件来设置您的环境。

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/rolling/setup.bash

尝试一些示例 

说话者-倾听者 

如果您在上面安装了“ros-rolling-desktop”，则可以尝试一些示例。

在一个终端中，获取安装文件，然后运行 C++“talker”：

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

在另一个终端中获取安装文件，然后运行 Python listener：

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

您应该看到“谈话者”说它正在“发布”消息，而“听众”说“我听到了”这些消息。这验证了 C++ 和 Python API 都正常工作。好极了！

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

您可能还想删除存储库：

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade

Ubuntu (deb 包)

资源 

设置区域 

设置源 

安装 ROS 2 软件包 

环境设置 

获取安装脚本 

尝试一些示例 

说话者-倾听者 

安装后的后续步骤 

使用 ROS 1 桥接器 

额外的 RMW 实现（可选）

故障排除 

卸载 