Ubuntu18.04安装ros2

1、安装UTF8，本操作会把当前系统的语言改为英文

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、查看语言环境：locale

3、安装源设定

1）添加密钥

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 -
2）安装源添加

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'
4、安装ros2

sudo apt update
sudo apt install ros-eloquent-desktop
（或者使用基础版：sudo apt install ros-eloquent-ros-base）

5、环境配置

1)  echo "source /opt/ros/eloquent/setup.bash" >> ~/.bashrc

2) 有可能再/opt/ros/eloquent/中没有setup.bash，如下：

bin  cmake  include  lib  local_setup.bash  local_setup.sh  _local_setup_util.py  local_setup.zsh  opt  setup.bash  setup.sh  setup.zsh  share  src

那么可以：source local_setup.bash

3)在安装了melodic ros的系统会报错

ROS_DISTRO was set to 'melodic' before. Please make sure that the environment does not mix paths from different distributions.

6、ros2命令的自动补全

sudo apt install python3-argcomplete

7、通信测试

开一个终端：ros2 run demo_nodes_cpp talker

再开一个终端：ros2 run demo_nodes_py listener