ros1与ros2共存[Ubuntu20.04]

ros1与ros2共存

• 系统环境20.04
• ros1版本 ros-noetic
• ros2版本 ros-galactic

为了省事，我们习惯将source写到.bashrc文件(若是不同的解释器如zsh，则为.zshrc文件)

sudo gedit ~/.bashrc

在bashrc末尾加入:

source /opt/ros/noetic/setup.bash

每次打开terminal时如何切换版本？

sudo gedit ~/.bashrc

在.bashrc末尾加入:

echo "ros noetic(1) or ros2 galactic(2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/noetic/setup.bash
else
  source /opt/ros/galactic/setup.bash
fi

如果解释器为zsh，则

sudo gedit ~/.zshrc

在.zshrc末尾加入:

echo "ros noetic(1) or ros2 galactic(2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/noetic/setup.zsh
else
  source /opt/ros/galactic/setup.zsh
fi

实现效果：

输入1则选择ros-noetic

输入2则选择ros-galactic