ROS Galatic安装

1. 安装前准备¶

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade
sudo apt install software-properties-common
sudo add-apt-repository universe

2. 安装ros2¶

2.1 添加ros2仓库¶

授权秘钥

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

添加仓库到列表中

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

2.2 下载ros2包¶

到如下地址下载ros2包

https://github.com/ros2/ros2/releases

解压下载的ros2包

mkdir -p ~/ros2_galactic
cd ~/ros2_galactic
tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2

2.3 安装和初始化rosdep¶

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update

如果初始化失败,可以使用下面解决方案

https://blog.csdn.net/weixin_53660567/article/details/120607176?spm=1001.2101.3001.6650.15&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-15.pc_relevant_default&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-15.pc_relevant_default&utm_relevant_index=21

2.4 安装缺失的依赖¶

rosdep install --from-paths ~/ros2_galactic/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers"

2.5 安装python3库¶

sudo apt install -y libpython3-dev python3-pip

3. 配置ros2环境¶

添加ros2环境变量

echo "source ~/ros2_galactic/ros2-linux/setup.bash" >> ~/.bashrc
echo "source /opt/ros/galactic/setup.bash" >> ~/.bashrc

使环境变量生效

source ~/.bashrc

检查环境是否配置成功

printenv | grep -i ROS

查看是否有变量ROS_DISTRO和ROS_VERSION设置
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DISTRO=galactic

4. 安装colcon¶

colcon是ros的构建工具

sudo apt install python3-colcon-common-extensions