Ubuntu安装ROS2完整教程和踩坑经历
使用设备:虚拟机,Ubuntu 20.04LTS系统安装ROS2 Foxy1设置编码:2 添加源到这一步很大概率会报错:这里首先查找raw.githubusercontent.com的IP地址::https://www.ipaddress.com把找到的IP地址复制到host文件加入地址:(前面的IP地址以查到的数字为准)下一步:3 安装ROS2对于新加入的源,这一步可能出现没有公钥,由于安全问题
使用设备:
虚拟机,Ubuntu 20.04LTS系统
安装ROS2 Foxy
1 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
2 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
到这一步很大概率会报错:
这里首先查找raw.githubusercontent.com的IP地址::https://www.ipaddress.com
把找到的IP地址复制到host文件
sudo gedit /etc/hosts
加入地址:
185.199.108.133 raw.githubusercontent.com
(前面的IP地址以查到的数字为准)
下一步:
sudo sh -c ‘echo “deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu
lsb_release -cs
main” > /etc/apt/sources.list.d/ros2.list’
3 安装ROS2
sudo apt update
sudo apt upgrade
对于新加入的源,这一步可能出现没有公钥,由于安全问题不可更新
报错信息会提示要加入的公钥,输入以下指令:
gpg --keyserver keyserver.ubuntu.com --recv (要加入的公钥)
apt-key adv --keyserver keyserver.ubuntu.com --recv-keys (要加入的公钥)
sudo apt install ros-foxy-desktop
这一步很可能出现网络连接不稳定,导致无法下载。这是使用默认国外的源造成的。
sudo gedit /etc/apt/sources.list
把原有的国外源改为清华源(注意对原文件备份)
# 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/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# 预发布软件源,不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
其他几个国内源:
阿里源:
deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
中科大源:
deb https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
网易源:
deb http://mirrors.163.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.163.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.163.com/ubuntu/ focal-backports main restricted universe multiverse
换源之后再
sudo apt update
然后就可以下载成功了
4 配置环境变量:
source /opt/ros/foxy/setup.bash
echo “source /opt/ros/foxy/setup.bash”>>~/.bashrc
新打开一个终端,输入ros2,如果出现以下指令则说明安装成功
测试小海龟程序:
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