ROS 2 Humble Hawksbill 正式版安装流程

Posted 2022-05-26 zhangrelay

本文仅为个人记录，推荐此类学习主要参考官网即可。

官网链接：docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

功能包首发总计☞1096： 

 

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener 

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支持全平台如下：

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安装通常不会遇到啥问题的。

这里使用WSL2，使用起来非常便捷，无需切换系统，并且大部分功能全部通用。

操作系统使用Win11+Ubuntu22.04

 

 

当然Win11直接支持安装，这里需要异构系统交互使用，因此双系统都安装。

Win11直接使用ros2效果如下：

 

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安装过程：

设置安装源如下，依次执行如下命令：

1. apt-cache policy | grep universe
2. sudo apt install software-properties-common
3. sudo add-apt-repository universe
4. sudo apt update && sudo apt install curl gnupg lsb-release
5. sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
6. echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

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更新：

1. sudo apt update
2. sudo apt upgrade 

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安装桌面版：

sudo apt install ros-humble-desktop

或者，安装基础版：

sudo apt install ros-humble-ros-base

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更新环境，打开终端即可使用humble：

source /opt/ros/humble/setup.bash

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删除：

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

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade

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测试：

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener 

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  156  apt-cache policy | grep universe
  157  sudo apt install software-properties-common
  158  sudo add-apt-repository universe
  159  sudo apt update && sudo apt install curl gnupg lsb-release
  160  sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
  161  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
  162  sudo apt update
  163  sudo apt upgrade
  164  sudo apt install ros-humble-desktop
  165  ros2 run demo_nodes_cpp talker
  166  ros2 run demo_nodes_py listener
  167  rviz2
  168  rqt

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