Ubuntu20.04.04版本安装RO2 GALACTIC
2022-5-12
1、官网安装页
Building ROS 2 on Ubuntu Linux — ROS 2 Documentation: Galactic documentation
2、Ubuntu20.04.04下载地址
https://mirrors.tuna.tsinghua.edu.cn/ubuntu-releases/focal/ubuntu-20.04.4-desktop-amd64.iso
3、RO2 版本发布日志
Distributions — ROS 2 Documentation: Rolling documentation
List of Distributions
Below is a list of current and historic ROS 2 distributions. Rows in the table marked in green are the currently supported distributions.
| Distro | Release date | Logo | EOL date |
|---|---|---|---|
| Humble Hawksbill | May 23rd, 2022 |
|
May 2027 |
| Galactic Geochelone | May 23rd, 2021 | November 2022 | |
| Foxy Fitzroy | June 5th, 2020 | May 2023 | |
| Eloquent Elusor | November 22nd, 2019 | November 2020 | |
| Dashing Diademata | May 31st, 2019 |
|
May 2021 |
| Crystal Clemmys | December 14th, 2018 | December 2019 | |
| Bouncy Bolson | July 2nd, 2018 | July 2019 | |
| Ardent Apalone | December 8th, 2017 |
|
December 2018 |
| beta3 | September 13th, 2017 | December 2017 | |
| beta2 | July 5th, 2017 | September 2017 | |
| beta1 | December 19th, 2016 | Jul 2017 | |
| alpha1 - alpha8 | August 31th, 2015 | December 2016 |
Future Distributions
For details on upcoming features see the roadmap.
There is a new ROS 2 distribution released yearly on May 23rd (World Turtle Day).
| Distro | Release date | Supported until |
|---|---|---|
| Humble Hawksbill | May 2022 | May 2027 |
The expectation is to release new ROS 2 distributions once per year.
4、安装Ubuntu操作系统的教程自己百度。安装ROS2这个确实会出现一些意想不到的问题，大多数都有人踩过坑了。这是我第二次安装了，做个总结。
4.1安装注意事项
安装有三种方式，Building ROS 2 on Ubuntu Linux，Installing ROS 2 on Ubuntu Linux，Installing ROS 2 via Debian Packages，不要乱选，一会这个，一会那个，记住使用一个，并且安装的过程很漫长，大概会需要2个小时，最好有一个记事本记一下刚才执行过的命令和进行的修改。我是安装完操作系统直接就开始安装ROS2了。
4.2安装过程
我选的是第一个1官网安装页中的，Building ROS 2 on Ubuntu Linux，其他的没试，不做说明。这些命令，最好一行一行执行，不要一下全部复制执行。
1、设置locale，设置更新，设置编码支持。
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 settings2、执行完下面这条命令，出现500 Index of /ubuntu focal/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64字样就证明系统没问题。
apt-cache policy | grep universe
3、在这先添加一下更新源。引用：ubuntu20.04更换清华源_PisaYu的博客-CSDN博客_ubuntu换清华源
首先打开网页，复制更新源。
#添加清华源
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse multiverse执行以下命令。
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak
sudo vi /etc/apt/sources.list打开文件之后，按Esc,dd一直按，删除全部文字，然后按i,鼠标放在光标处，右键粘贴。看到文件内容变为上面的更新源。然后，按Esc,输入:wq回车。然后执行下面的命令更新一下系统。
sudo apt-get update
sudo apt-get upgrade4、修改一个重要的映射地址。
sudo vi /etc/hosts在文件的最后一行输入o,然后输入下面的配置，然后Esc退出，输入:wq回车保存。
185.199.110.133 raw.githubusercontent.com5、执行下面的安装命令
添加ROS 2 apt仓库到系统，授权apt GPG key。
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添加仓库到你的源列表。
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安装开发工具和ROS工具。
sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
wget# install some pip packages needed for testing
python3 -m pip install -U \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest \
setuptools创建工作空间，拷贝repos。
mkdir -p ~/ros2_galactic/src
cd ~/ros2_galactic
wget https://raw.githubusercontent.com/ros2/ros2/galactic/ros2.repos
vcs import src < ros2.repos用rosdep安装依赖。
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-5.3.1 urdfdom_headers"安装额外的DDS机制，可选。
cd ~/ros2_galactic/
colcon build --symlink-install基本上按照上面的步骤，应该能够完整的安装ROS2了，剩下的就是学习开发了。
vi ~/.bashrc
在最后增加一行如下所示，保存退出。
. ~/ros2_galactic/install/local_setup.bash
关掉终端，再打开终端，执行
ros2 run demo_nodes_cpp talker
再次打开一个终端，执行
ros2 run demo_nodes_py listener
可以看到两边消息同步即可。