161 lines
8.3 KiB
Markdown
161 lines
8.3 KiB
Markdown
## [系统要求](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id1)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#system-requirements "Link to this heading")
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当前 Humble Hawksbill 基于 Debian 的目标平台包括：
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- 第一级：Ubuntu Linux - Jammy (22.04) 64位
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- 第三级：Ubuntu Linux - Focal (20.04) 64位
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- 第三级：Debian Linux - Bullseye (11) 64位
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其他支持程度不同的 Linux 平台包括：
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- Arch Linux，请参阅[替代安装说明](https://wiki.archlinux.org/index.php/ROS#ROS_2)
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- Fedora Linux，请参阅[替代安装说明](https://ros2docs.robook.org/humble/Installation/Alternatives/Fedora-Development-Setup.html)
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- OpenEmbedded / webOS OSE，请参阅[替代安装说明](https://github.com/ros/meta-ros/wiki/OpenEmbedded-Build-Instructions)
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如 [REP 2000](https://www.ros.org/reps/rep-2000.html) 中所定义。
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## [系统设置](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id2)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#system-setup "Link to this heading")
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### [设置区域](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id3)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#set-locale "Link to this heading")
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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。
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```bash
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locale # 检查 UTF-8 支持
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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locale # 验证设置
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```
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### [添加 ROS 2 apt 仓库](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id4)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository "Link to this heading")
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你需要将 ROS 2 apt 仓库添加到你的系统中。
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首先确保 [Ubuntu Universe 仓库](https://help.ubuntu.com/community/Repositories/Ubuntu) 已启用。
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```bash
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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```
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然后使用 apt 添加 ROS 2 GPG 密钥。
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```bash
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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```
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然后将仓库添加到你的源列表中。
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```bash
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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
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```
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### [安装开发工具和 ROS 工具](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id5)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-development-tools-and-ros-tools "Link to this heading")
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安装常用软件包。
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```bash
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sudo apt update && sudo apt install -y \
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python3-flake8-docstrings \
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python3-pip \
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python3-pytest-cov \
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ros-dev-tools
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```
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根据您的 Ubuntu 版本安装软件包。
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Ubuntu 22.04 LTS 及更高版本 Ubuntu 20.04 LTS
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```bash
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sudo apt install -y \
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python3-flake8-blind-except \
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python3-flake8-builtins \
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python3-flake8-class-newline \
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python3-flake8-comprehensions \
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python3-flake8-deprecated \
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python3-flake8-import-order \
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python3-flake8-quotes \
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python3-pytest-repeat \
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python3-pytest-rerunfailures
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```
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## [获取 ROS 2 代码](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id6)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#get-ros-2-code "Link to this heading")
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创建工作区并克隆所有仓库：
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```bash
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mkdir -p ~/ros2_humble/src
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cd ~/ros2_humble
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vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
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```
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## [使用 rosdep 安装依赖](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id7)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-dependencies-using-rosdep "Link to this heading")
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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。
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%% `sudo apt upgrade` %%
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```bash
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
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```
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**注意**：如果您使用的是基于 Ubuntu 的发行版（如 Linux Mint）但系统未标识为 Ubuntu，您可能会收到类似 `Unsupported OS [mint]` 的错误消息。在这种情况下，请在上述命令后追加 `--os=ubuntu:jammy`。
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## [安装额外的 DDS 实现（可选）](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id8)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-additional-dds-implementations-optional "Link to this heading")
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如果您想使用默认之外的 DDS 或 RTPS 供应商，可以在此处找到说明[这里](https://ros2docs.robook.org/humble/Installation/DDS-Implementations.html)。
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## [在工作区中构建代码](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id9)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#build-the-code-in-the-workspace "Link to this heading")
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如果您已经通过其他方式（deb 包或二进制发行版）安装了 ROS 2，请确保在未激活其他安装的新环境中运行以下命令。同时确保您的 `.bashrc` 中没有 `source /opt/ros/${ROS_DISTRO}/setup.bash`。您可以使用命令 `printenv | grep -i ROS` 来确保 ROS 2 未被激活。输出应为空。
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有关使用 ROS 工作区的更多信息，请参阅[本教程](https://ros2docs.robook.org/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)。
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```bash
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cd ~/ros2_humble/
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colcon build --symlink-install
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```
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**注意**：如果编译所有示例时遇到问题，导致无法成功构建，您可以像使用 [CATKIN_IGNORE](https://github.com/ros-infrastructure/rep/blob/master/rep-0128.rst) 一样使用 `COLCON_IGNORE` 来忽略子树或从工作区中移除文件夹。例如：如果您想避免安装庞大的 OpenCV 库，只需在 `cam2image` 演示目录中运行 `touch COLCON_IGNORE` 即可将其排除在构建过程之外。
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## [环境设置](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id10)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#environment-setup "Link to this heading")
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### [源化安装脚本](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id11)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#source-the-setup-script "Link to this heading")
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通过源化以下文件来设置您的环境。
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# 如果不使用 bash，请将 ".bash" 替换为您的 shell
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# 可能的取值为：setup.bash, setup.sh, setup.zsh
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```bash
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. ~/ros2_humble/install/local_setup.bash
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```
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## [尝试一些示例](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#id12)[](https://ros2docs.robook.org/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#try-some-examples "Link to this heading")
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在一个终端中，源化安装脚本然后运行 C++ `talker`：
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```bash
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. ~/ros2_humble/install/local_setup.bash
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ros2 run demo_nodes_cpp talker
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```
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在另一个终端中源化安装脚本然后运行 Python `listener`：
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```bash
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. ~/ros2_humble/install/local_setup.bash
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ros2 run demo_nodes_py listener
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```
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您应该能看到 `talker` 显示它正在 `Publishing` 消息，而 `listener` 显示 `I heard` 这些消息。这表明 C++ 和 Python API 都能正常工作。太好了！ |