ROS2 Galactic安装

字体编码检查

安装需要设置本级为UTF-8字体，使用如下指令检查：

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

检查如下

添加ros2仓库到本机

执行如下指令添加ros2仓库到本机：

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] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

安装ROS2系统

sudo apt update
sudo apt upgrade

sudo apt install ros-galactic-desktop

sudo apt install ros-galactic-ros-base

sudo apt install ros-dev-tools

其中 ros-galactic-desktop 是完全体，包含ROS, RViz, demos, tutorials.

测试ROS

1. 运行talker程序

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker

2. 运行listener程序

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_py listener

如下图所示，通信正常

卸载ros2

sudo apt remove ~nros-galactic-* && sudo apt autoremove

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade

参考官方文档：
https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html