8.5 KiB
System requirements
The current Debian-based target platforms for Humble Hawksbill are:
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Tier 1: Ubuntu Linux - Jammy (22.04) 64-bit
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Tier 3: Ubuntu Linux - Focal (20.04) 64-bit
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Tier 3: Debian Linux - Bullseye (11) 64-bit
Other Linux platforms with varying support levels include:
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Arch Linux, see alternate instructions
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Fedora Linux, see alternate instructions
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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!