介绍

机器人操作系统(ROS)是一组用于构建机器人应用程序的软件库和工具。从驱动程序和最先进的算法到强大的开发者工具，ROS拥有我们下一个机器人项目所需的开源工具。
当前ros已经应用到各类机器人项目开发中，对机器人技术感兴趣的小伙伴非常有必要了解下ros. 本文主要从ros2的安装和测试验证这个层面来了解和体验ros2.

安装ros2

1. 安装基础工具和源

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

2. 安装 ros-dev-tools

   sudo apt update && sudo apt install ros-dev-tools
   

3. 安装ros2

   sudo apt update
   sudo apt upgrade
   sudo apt install ros-jazzy-desktop
   sudo apt install ros-jazzy-ros-base
   

测试验证ros2

1. 设置环境

   # Replace ".bash" with your shell if you're not using bash
   # Possible values are: setup.bash, setup.sh, setup.zsh
   source /opt/ros/jazzy/setup.bash
   可以通过 echo "source /opt/ros/jazzy/setup.bash" >>~/.bashrc 将其添加到环境变量中
   

2. 运行demo_nodes talker/listener example

   运行 C++ talker
   $ source /opt/ros/jazzy/setup.bash
   $ ros2 run demo_nodes_cpp talker
   输出
   [INFO] [1719704645.577174401] [talker]: Publishing: 'Hello World: 1'
   [INFO] [1719704646.577120788] [talker]: Publishing: 'Hello World: 2'
   ...
   运行 Python listener
   $ source /opt/ros/jazzy/setup.bash
   $ ros2 run demo_nodes_py listener
   输出
   [INFO] [1719704676.604044603] [listener]: I heard: [Hello World: 32]
   [INFO] [1719704677.580123802] [listener]: I heard: [Hello World: 33]
   ...
   

3. 运行小海龟案例
   $ ros2 run turtlesim turtlesim_node
   
   让小海龟跑起来
   $ ros2 run turtlesim turtle_teleop_key
   按左右键可以控制海龟方向，上下键移动海龟, 移动后的海龟如下
   

说明

系统：
ubuntu24.04 Desktop
ros2 jazzy
参考文档：
Ubuntu-Install-Debians.html
古月居 ros2课程