ROS2 Humble测试版安装笔记
Posted zhangrelay
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参考链接：
docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
使用WSL2效果不错，测试版功能包就超过了1k+。
2022-05-04：1040 个功能包。
安装：sudo apt install ros-humble-desktop
测试：
ros2 run turtlesim turtlesim_node
键盘遥控ok：
rviz2：
附录：
全过程如下
https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
zhangrelay@LAPTOP-5REQ7K1L:~$ locale
LANG=en_US.UTF-8
LANGUAGE=
LC_CTYPE="en_US.UTF-8"
LC_NUMERIC="en_US.UTF-8"
LC_TIME="en_US.UTF-8"
LC_COLLATE="en_US.UTF-8"
LC_MONETARY="en_US.UTF-8"
LC_MESSAGES="en_US.UTF-8"
LC_PAPER="en_US.UTF-8"
LC_NAME="en_US.UTF-8"
LC_ADDRESS="en_US.UTF-8"
LC_TELEPHONE="en_US.UTF-8"
LC_MEASUREMENT="en_US.UTF-8"
LC_IDENTIFICATION="en_US.UTF-8"
LC_ALL=
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo apt update && sudo apt install locales
[sudo] password for zhangrelay:
Hit:1 http://archive.ubuntu.com/ubuntu jammy InRelease
Get:2 http://security.ubuntu.com/ubuntu jammy-security InRelease [110 kB]
Get:3 http://archive.ubuntu.com/ubuntu jammy-updates InRelease [109 kB]
Get:4 http://security.ubuntu.com/ubuntu jammy-security/main amd64 Packages [57.2 kB]
Get:5 http://security.ubuntu.com/ubuntu jammy-security/main Translation-en [16.1 kB]
Get:6 http://security.ubuntu.com/ubuntu jammy-security/main amd64 c-n-f Metadata [928 B]
Get:7 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages [13.6 kB]
Get:8 http://security.ubuntu.com/ubuntu jammy-security/universe Translation-en [6,840 B]
Get:9 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 c-n-f Metadata [480 B]
Hit:10 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Get:11 http://archive.ubuntu.com/ubuntu jammy-updates/main amd64 Packages [67.7 kB]
Get:12 http://archive.ubuntu.com/ubuntu jammy-updates/main Translation-en [20.0 kB]
Get:13 http://archive.ubuntu.com/ubuntu jammy-updates/main amd64 c-n-f Metadata [1,636 B]
Get:14 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages [25.5 kB]
Get:15 http://archive.ubuntu.com/ubuntu jammy-updates/universe Translation-en [10.9 kB]
Get:16 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 c-n-f Metadata [860 B]
Fetched 441 kB in 4s (111 kB/s)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
8 packages can be upgraded. Run apt list --upgradable to see them.
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
locales is already the newest version (2.35-0ubuntu3).
locales set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 8 not upgraded.
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo locale-gen en_US en_US.UTF-8
Generating locales (this might take a while)...
en_US.ISO-8859-1... done
en_US.UTF-8... done
Generation complete.
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
zhangrelay@LAPTOP-5REQ7K1L:~$ export LANG=en_US.UTF-8
zhangrelay@LAPTOP-5REQ7K1L:~$ locale
LANG=en_US.UTF-8
LANGUAGE=
LC_CTYPE="en_US.UTF-8"
LC_NUMERIC="en_US.UTF-8"
LC_TIME="en_US.UTF-8"
LC_COLLATE="en_US.UTF-8"
LC_MONETARY="en_US.UTF-8"
LC_MESSAGES="en_US.UTF-8"
LC_PAPER="en_US.UTF-8"
LC_NAME="en_US.UTF-8"
LC_ADDRESS="en_US.UTF-8"
LC_TELEPHONE="en_US.UTF-8"
LC_MEASUREMENT="en_US.UTF-8"
LC_IDENTIFICATION="en_US.UTF-8"
LC_ALL=
zhangrelay@LAPTOP-5REQ7K1L:~$ apt-cache policy | grep universe
ttp://us.archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64 500 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-security,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-updates,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64
zhangrelay@LAPTOP-5REQ7K1L:~$ 500 http://us.archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
500: command not found
zhangrelay@LAPTOP-5REQ7K1L:~$ release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64^C
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo apt install software-properties-common
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
software-properties-common is already the newest version (0.99.22).
software-properties-common set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 8 not upgraded.
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo add-apt-repository universe
Adding component(s) universe to all repositories.
Press [ENTER] to continue or Ctrl-c to cancel.
Hit:1 http://archive.ubuntu.com/ubuntu jammy InRelease
Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease
Hit:3 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:4 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done
zhangrelay@LAPTOP-5REQ7K1L:~$ apt-cache policy | grep universe
500 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-security,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-updates,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo apt install software-properties-common
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
software-properties-common is already the newest version (0.99.22).
0 upgraded, 0 newly installed, 0 to remove and 8 not upgraded.
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo add-apt-repository universe
Adding component(s) universe to all repositories.
Press [ENTER] to continue or Ctrl-c to cancel.
Hit:1 http://archive.ubuntu.com/ubuntu jammy InRelease
Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease
Hit:3 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:4 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done
zhangrelay@LAPTOP-5REQ7K1L:~$ apt-cache policy | grep universe
500 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-security,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy-updates,n=jammy,l=Ubuntu,c=universe,b=amd64
500 http://archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64
zhangrelay@LAPTOP-5REQ7K1L:~$ sudo apt update && sudo apt install curl gnupg lsb-release
Hit:1 http://security.ubuntu.com/ubuntu jammy-security InRelease
Hit:2 http://archive.ubuntu.com/ubuntu jammy InRelease
Hit:3 http://archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:4 http://archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
8 packages can be upgraded. Run apt list以上是关于ROS2 Humble测试版安装笔记的主要内容，如果未能解决你的问题，请参考以下文章
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