Ros2 - install ros2 (III)

ROS Robot operating system

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Preface

I've learned about ROS2 What is it? , If a worker wants to do a good job, he must sharpen his tools first , Now let's install ROS2.

One 、 Step on the pit diary

Remember to install a new 22.04 The system of ,20.04 What happened , It's been a whole afternoon, but it hasn't been solved , A new system , All the way unimpeded .

Two 、 Source change

1. Replace the source of China University of science and technology

Enter the following command

sudo gedit /etc/apt/sources.list
sudo apt-get update
sudo apt-get upgrade

Replace... With the following

deb https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

Save and exit

3、 ... and 、 install ROS2

1. Set encoding

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

2. Add source

sudo apt update && sudo apt install curl gnupg lsb-release 
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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

There may be a mistake here
perform

sudo vi /etc/hosts

Add the following sentence , Just execute it again

185.199.108.133 raw.githubusercontent.com

3. install ROS2

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

4. Set the environment variable

source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc 

Four 、 Example of Little Turtle

function

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

You can see the little turtle coming out , thus ROS2 Installation completed .

summary

ROS2 The installation of stepped on thunder , use 22.04 clear , If there are other problems in the process, you need to solve them yourself .