青岛能征智能装备有限公司
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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


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 | | | | | | | | | | | | | | | |


青岛能征智能装备有限公司
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目录
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青岛能征智能装备有限公司
--- # 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 ```