Ubuntu20.04安装ROS2

一：设置编码

$ 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

二：添加源

$ 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

若执行倒数第二行报错，参考该解决方案，运行sudo gedit /etc/hosts ，将185.199.108.133 raw.githubusercontent.com写入，如下如所示:

三：安装ROS2

$ sudo apt update
$ sudo apt upgrade
$ sudo apt install ros-foxy-desktop #注意不同的ubuntu版本号对应的ros-{version}-desktop中的内容也不同

四：设置环境变量

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

五：测试环节

#第一个终端
$ ros2 run demo_nodes_cpp talker
#另启一个终端
$ ros2 run demo_nodes_cpp listener

至此，大功告成！