Ubuntu20.04安装ROS2

官方参考文章

Ubuntu (Debian) — ROS 2 Documentation: Foxy documentation

curl密钥问题

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
curl: (7) Failed to connect to raw.githubusercontent.com port 443: Connection refused

添加DNS144.144.144.144

安装桌面版

sudo apt install ros-foxy-desktop python3-argcomplete

ros-foxy-desktop会含有ROS, RViz, demos, tutorials

运行talker-listener示例

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

第二个

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener

运行经典小乌龟

source /opt/ros/foxy/setup.bash
ros2 run turtlesim turtlesim_node

第二个窗口，把鼠标点在这个窗口，上下左右键可以控制小乌龟的移动

source /opt/ros/foxy/setup.bash
ros2 run turtlesim turtle_teleop_key

卸载

sudo apt remove ~nros-foxy-* && sudo apt autoremove

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
sudo apt upgrade

视频

Ubuntu20.04安装ROS2