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    Ubuntu 22.04 ROS2 humble安装

    ROS教程
    ros humble ros2 安装 ros2
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    • weijiz
      weijiz last edited by weijiz

      添加源和秘钥

      sudo apt install software-properties-common
      sudo add-apt-repository universe
      sudo apt update && sudo apt install curl
      sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
      echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
      

      安装软件包

      下面用apt-fast 安装,apt-fast的安装方法参考这里

      sudo apt update
      sudo apt-fast upgrade
      sudo apt-fast install ros-humble-desktop ros-dev-tools -y
      

      设置环境变量

      在你的bashrc里面添加下面的内容

      source /opt/ros/humble/setup.bash
      source /home/randoms/Documents/ros2/install/setup.bash # 这里要改成自己的工作空间
      export ROS_LOCALHOST_ONLY=1 # 这里让话题只在本地发布,为了安全性
      export ROS_DOMAIN_ID=0 # 这里设置自己的Domain,注意数值范围0-101而且数值越大则最大node进程数越少。
      source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash # 开启colcon的自动补全
      

      降级setuptools

      22.04的setuptools版本过高,默认版本会在colcon build python包的时候产生各种warning

      pip install setuptools==58.2.0
      

      注意安装环境不能使用conda,否则会出现 python 各种import错误

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