note_sync/ros/ros2/安装配置/安装.md

System requirements

The current Debian-based target platforms for Humble Hawksbill are:

• Tier 1: Ubuntu Linux - Jammy (22.04) 64-bit

• Tier 3: Ubuntu Linux - Focal (20.04) 64-bit

• Tier 3: Debian Linux - Bullseye (11) 64-bit

Other Linux platforms with varying support levels include:

• Arch Linux, see alternate instructions

• Fedora Linux, see alternate instructions

• OpenEmbedded / webOS OSE, see alternate instructions

As defined in REP 2000.

System setup

Set locale

请确保您有一个支持 UTF-8 的区域设置。 如果您处于最简环境中（例如 docker 容器），区域设置可能是一些类似 POSIX 的选项。 我们使用以下设置通过了测试。但是，如果您使用不同的支持 UTF-8 的区域设置，也应该没问题。

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

Add the ROS 2 apt repository

你需要将 ROS 2 apt 仓库添加到你的系统中。

首先确保 Ubuntu Universe 仓库 已启用。

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

然后使用 apt 添加 ROS 2 GPG 密钥。

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

然后将仓库添加到你的源列表中。

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

Install development tools and ROS tools

Install common packages.

sudo apt update && sudo apt install -y \ python3-flake8-docstrings \ python3-pip \ python3-pytest-cov \ ros-dev-tools

Install packages according to your Ubuntu version.

Ubuntu 22.04 LTS and laterUbuntu 20.04 LTS

sudo apt install -y \ python3-flake8-blind-except \ python3-flake8-builtins \ python3-flake8-class-newline \ python3-flake8-comprehensions \ python3-flake8-deprecated \ python3-flake8-import-order \ python3-flake8-quotes \ python3-pytest-repeat \ python3-pytest-rerunfailures

Get ROS 2 code

Create a workspace and clone all repos:

mkdir -p ~/ros2_humble/src cd ~/ros2_humble vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

Install dependencies using rosdep

ROS 2 包是在经常更新的 Ubuntu 系统上构建的。 在安装新包之前，建议您确保系统是最新的。

%% sudo apt upgrade %%

sudo rosdep init rosdep update rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

Note: If you’re using a distribution that is based on Ubuntu (like Linux Mint) but does not identify itself as such, you’ll get an error message like Unsupported OS [mint]. In this case append --os=ubuntu:jammy to the above command.

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, you can find instructions here.

Build the code in the workspace

If you have already installed ROS 2 another way (either via debs or the binary distribution), make sure that you run the below commands in a fresh environment that does not have those other installations sourced. Also ensure that you do not have source /opt/ros/${ROS_DISTRO}/setup.bash in your .bashrc. You can make sure that ROS 2 is not sourced with the command printenv | grep -i ROS. The output should be empty.

More info on working with a ROS workspace can be found in this tutorial.

cd ~/ros2_humble/ colcon build --symlink-install

Note: if you are having trouble compiling all examples and this is preventing you from completing a successful build, you can use COLCON_IGNORE in the same manner as CATKIN_IGNORE to ignore the subtree or remove the folder from the workspace. Take for instance: you would like to avoid installing the large OpenCV library. Well then simply run touch COLCON_IGNORE in the cam2image demo directory to leave it out of the build process.

Environment setup

Source the setup script

Set up your environment by sourcing the following file.

Replace ".bash" with your shell if you're not using bash

Possible values are: setup.bash, setup.sh, setup.zsh

. ~/ros2_humble/install/local_setup.bash

Try some examples

In one terminal, source the setup file and then run a C++ talker:

. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

. ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!