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青岛能征智能基础资料
ros2 humble 安装
青岛能征智能装备有限公司
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修订记录
| 日期 | 版本 | 描述 | 作者 |
| :--------: | :---: | :--: | :----: |
| 2025-03-28 | 1.0.0 | 初版 | 王英杰 |
| | | | |
| | | | |
| | | | |
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目录
[TOC]
---
# ros2 humble 安装
-----
## 1.设置utf8语言环境
```shell
locale
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
```
## 2.设置源
```shell
sudo apt install software-properties-common
sudo add-apt-repository universe
```
使用 apt 添加 ROS 2 GPG 密钥
```shell
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
#############
上面是指令是将 https://raw.githubusercontent.com/ros/rosdistro/master/ros.key 文件
下载下来放到 /usr/share/keyrings/目录下改名为ros-archive-keyring.gpg
这个网站如果访问不到的话可以直接去 https://gitee.com/master-turtle/ros2_demo
这个地址下载 ros.key文件然后复制到
/usr/share/keyrings/目录下改名为ros-archive-keyring.gpg
```
接下来将软件源添加到您的源列表中
```shell
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 $UBUNTU_CODENAME) main" | \
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
```
## 3.安装ros2
```shell
sudo apt-get update
sudo apt-get upgrade
```
桌面安装(推荐):ROS、RViz、演示、教程。
```shell
sudo apt install ros-humble-desktop
```
添加环境变量
```shell
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc
```
也就是在~/.bashrc文件后面添加`source /opt/ros/humble/setup.bash`
## 4.安装 colcon
```shell
sudo apt install python3-colcon-common-extensions
```
## 5.ros2 安装验证
```shell
wub@wub:~$ ros2 run demo_nodes_cpp talker
[INFO] [1714036035.679785136] [talker]: Publishing: 'Hello World: 1'
[INFO] [1714036036.679330436] [talker]: Publishing: 'Hello World: 2'
[INFO] [1714036037.679588162] [talker]: Publishing: 'Hello World: 3'
[INFO] [1714036038.679293145] [talker]: Publishing: 'Hello World: 4'
## 另外建一个终端
wub@wub:~$ ros2 run demo_nodes_py listener
[INFO] [1714036273.699201424] [listener]: I heard: [Hello World: 239]
[INFO] [1714036274.671316847] [listener]: I heard: [Hello World: 240]
[INFO] [1714036275.670648235] [listener]: I heard: [Hello World: 241]
```
## 6.rqt 安装
```bash
sudo apt install ros-humble-rqt
```
## 7.tf2 安装
```bash
sudo apt install ros-humble-tf2-tools
```
## 8.gazebo 安装
gazebo 是一个模型仿真的软件,按需要装,如果不是仿真可以不装
```bash
sudo apt install ros-humble-gazebo-*
ros2 launch gazebo_ros gazebo.launch.py
```
## 9.卸载
如果您需要卸载ROS 2或在已从二进制文件安装后切换到基于源代码的安装,请运行以下命令:
```bash
sudo apt remove ~nros-humble-* && sudo apt autoremove
```
您还可以删除存储库:
```bash
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
sudo apt upgrade
```