前言：高考已经过去很多年了,如今做了程序员，哎！

正文：

网上ros2教程很多，自己也失败很多次，这里总结一下吧，欢迎指正！

ros2和ubuntu版本对照关系

• ros2 foxy 对应ubuntu20.04 发布维护日期2020.6----2023.5
• ros2 humble 对应ubuntu22.04 发布维护时间2022.5--2027.5

注意请先不要换源，先使用系统自带的源安装（比国内源满了一点点，但速度还可以，实际自己在刚装完系统换成清华源时，发现ginpg2一直安不上，原源就可以

）

sudo apt-get update
sudo apt-get install curl gnupg2 lsb-release vim  

设置语言环境
 

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

设置软件源

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
#注意古月和官网的教程使用的是国外的ros源
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
#我这里用清华源，国内下载ros会相对好一些吧
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://mirror.tuna.tsinghua.edu.cn/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

sudo apt update

此时会报错呀【修复key】

①导出原key②在更新ros2源里指定加载key的路径

root@5f27b94c113e:/home# apt-get update
Hit:1 http://packages.ros.org/ros2/ubuntu jammy InRelease
Hit:2 http://archive.ubuntu.com/ubuntu jammy InRelease
Hit:3 http://security.ubuntu.com/ubuntu jammy-security InRelease
Hit:4 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:5 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done
W: http://packages.ros.org/ros2/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.

我们需要修复 Key is stored in legacy trusted.gpg keyring

这里是ros2源相关报的错误

首先查看key list,找到警告相关源的key

这里是 Open Robotics这个

root@5f27b94c113e:/# apt-key list
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
/etc/apt/trusted.gpg
--------------------
pub   rsa4096 2019-05-30 [SC] [expires: 2025-06-01]
      C1CF 6E31 E6BA DE88 68B1  72B4 F42E D6FB AB17 C654
uid           [ unknown] Open Robotics <info@osrfoundation.org>

/etc/apt/trusted.gpg.d/ubuntu-keyring-2012-cdimage.gpg
------------------------------------------------------
pub   rsa4096 2012-05-11 [SC]
      8439 38DF 228D 22F7 B374  2BC0 D94A A3F0 EFE2 1092
uid           [ unknown] Ubuntu CD Image Automatic Signing Key (2012) <cdimage@ubuntu.com>

/etc/apt/trusted.gpg.d/ubuntu-keyring-2018-archive.gpg
------------------------------------------------------
pub   rsa4096 2018-09-17 [SC]
      F6EC B376 2474 EDA9 D21B  7022 8719 20D1 991B C93C
uid           [ unknown] Ubuntu Archive Automatic Signing Key (2018) <ftpmaster@ubuntu.com>

导出相应key到单独文件 注意这里的路径和名称

修改有问题源的配置文件,关联key文件位置. 源配置文件在/etc/apt/sources.list.d目录下

root@5f27b94c113e:/# apt-key export AB17C654|sudo gpg --dearmour -o /etc/apt/trusted.gpg.d/ros.gpg
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).

 改成如下：

root@5f27b94c113e:/# sudo vim /etc/apt/sources.list.d/ros2-latest.list 

deb [arch=amd64 signed-by=/etc/apt/trusted.gpg.d/ros.gpg] http://mirror.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main

 再次更新源即可（上面主要涉及到两步操作：①导出原key②在更新ros2源里指定加载key的路径）

root@5f27b94c113e:/# apt-get update
Hit:1 http://mirror.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease
Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease               
Hit:3 http://archive.ubuntu.com/ubuntu jammy InRelease                         
Hit:4 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:5 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done

 sudo apt install ros-humble-desktop

等待完成即可！

将/opt/ros/humble/setup.bash  添加到 ~/.bashrc

source ~/.bashrc

测试的话就用小乌龟

ros2 run turtlesim turtlesim_node

 再启动键盘控制节点

ros2 run turtlesim turtle

如果后期安装软件出现类似于以下错误，则是ubuntu软件源问题

 我们换一下源，清华源  （记得备份原来的）ubuntu | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

如有问题请留言，看到会回复的！

附录：

如果是docker开发，则更加简单，

docker pull osrf/ros:humble-desktop

直接安装原版ros2 humble镜像（ubuntu22.04桌面版），apt update报错参考上面步骤解决！