Ubuntu18.04下快速安装ROS及ROS2

由于ROS2还在迭代开发中，同时借助ROS1中的资源，可以在Ubuntu18.04下安装ROS-Melodic及ROS2-dashing.

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需要注意切换到国内的镜像源，进行安装

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安装ROS-melodic

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
• sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
• sudo apt update
• sudo apt install ros-melodic-desktop-full
• sudo rosdep init
• rosdep update
• echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
• source ~/.bashrc
• sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

安装完成后进行测试
终端中输入命令 roscore

安装ROS2 dashing

• 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
• sudo apt update && sudo apt install curl gnupg2 lsb-release
• curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
• sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu lsb_release -cs main" > /etc/apt/sources.list.d/ros2-latest.list'
• sudo apt update
• sudo apt install ros-dashing-desktop
• sudo apt install python3-argcomplete
• source /opt/ros/dashing/setup.bash
• echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
• source .bashrc
• sudo apt update
• sudo apt install ros-dashing-ros1-bridge

安装完成后进行测试
终端中输入命令 ros2 -h

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额外安装

   sudo apt install ros-melodic-robot-upstart 
   sudo apt install ros-melodic-joy
   sudo apt install ros-melodic-ps3joy
   sudo apt install ros-melodic-joystick-drivers 
   sudo apt install ros-melodic-rosbridge-suite

   sudo apt install ssh
   sudo apt install proftpd-basic 
   sudo apt install libudev-dev 
   sudo apt install vim
   sudo apt install net-tools