基本环境部署安装（安装时提示找不到的库，需要修改一下版本 ，安装你能找得到的版本）

sudo apt-get install git
sudo apt-get install cmake
sudo apt-get install python3-pip
 
#---pip3 install报错参考文章：https://blog.csdn.net/u011391361/article/details/136470825?spm=1001.2014.3001.5501
 
sudo pip3 install defusedxml
sudo pip3 install rospkg
sudo pip3 install netifaces
sudo pip3 install empy==3.3.2
sudo pip3 install pycrypto
sudo pip3 install pycryptodomex
sudo pip3 install wheel
sudo pip3 install sip
sudo pip3 install gnupg   
#---安装时提示...ReadTimeoutError: HTTPSConnectionPool...重试即可
#---安装gnupg时如果在安装setuptools的时候报错，按如下方法解决
wget https://pypi.python.org/packages/source/s/setuptools/setuptools-69.1.1.tar.gz
tar -zxvf setuptools-69.1.1.tar.gz
cd setuptools-69.1.1/
python3 setup.py build
python3 setup.py install
然后再重试sudo pip3 install gnupg，第一次可能还会报错，再试一次即可
 
sudo apt-get install zip
sudo apt-get install libboost1.74-all-dev
sudo apt-get install liblog4cxx15
sudo apt-get install liblog4cxx-dev
sudo apt-get install liblog4cxx-doc
sudo apt-get install libtinyxml2-9
sudo apt-get install libtinyxml2-dev
sudo apt-get install libtinyxml-dev libtinyxml-doc
sudo apt-get install ogre-1.12-tools
sudo apt-get install assimp-utils
sudo apt-get install libyaml-cpp0.7
sudo apt-get install libyaml-dev
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libpoco-dev
sudo apt-get install libpocofoundation80
sudo apt-get install liburdfdom-tools
sudo apt-get install liburdfdom-headers-dev
sudo apt-get install liburdfdom-dev
sudo apt-get install python3-pyassimp libassimp-dev
sudo apt-get install libcollada-dom2.4-dp-dev
sudo apt-get install python3-sip python3-sip-dev
sudo apt-get install liblz4-dev
sudo apt-get install libogre-1.12-dev
sudo apt-get install python3-netifaces python3-defusedxml
sudo apt-get install libconsole-bridge1.0 libconsole-bridge-dev -y
sudo apt-get install libcurl4-openssl-dev
sudo apt-get install liborocos-kdl-dev
sudo apt-get install qtcreator
sudo apt-get install libbullet-dev
sudo apt-get install libopencv-dev
 
#---安装pyqt(能装多少装多少,部分实在无法安装就跳过,一般也不在debian上直接跑图形界面)
sudo apt-get install python3-pyqt5 pyqt5-dev python3-sip-dev pyqt5-dev-tools
sudo apt-get install pyqt5*
sudo apt-get install qttools5-dev-tools
sudo pip3 install -v pyqt5==5.15.2 -i https://mirror.baidu.com/pypi/simple (存疑,安装可能失败)
 
 
sudo pip3 install pybind11 -i https://mirror.baidu.com/pypi/simple
sudo apt-get install libopencv-dev
sudo apt-get install libgtest-dev -y
sudo apt-get install libuvc-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libbz2-dev
sudo apt-get install liblzma-dev
sudo apt-get install libgpgme-dev
sudo apt-get install libpcl-dev
sudo apt-get install jskeus-dev
sudo apt-get install python3-gpg
sudo apt-get install libgpgme-dev
sudo apt-get install libturbojpeg0
sudo apt-get install libglfw3-dev
sudo apt-get install libturbojpeg0-dev
sudo apt-get install libroscpp-dev
sudo apt-get install librosconsole-bridge-dev
sudo apt-get install aptitude
sudo apt-get install cppcheck python3-nose 
sudo apt-get install clang-format pydocstyle pyflakes3 
sudo apt-get install python3-funcsigs python3-mock 
sudo apt-get install python3-pbr python3-pep8 
sudo apt-get install uncrustify
sudo apt-get install libcg3-dev cg3
sudo apt-get install libsdl2-dev
sudo apt-get install doxygen
sudo apt-get install rviz

下载源码(Ros2 Humble)

sudo apt-get install python3-rosinstall-generator
sudo apt-get install python3-vcstools
sudo apt-get install vcstools
sudo apt-get install python3-rosdep   (找不到rosdep就rosdep2)
sudo rosdep init
rosdep update

mkdir -p ~/ros2_humble/src
cd ~/ros2_humble
wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
vsc import src < ros2.repos
#---执行上面命令经常报错，可以编辑ros2.repos文件，只保留报错内容再执行
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

编译执行

cd ~/ros2_humble
colcon build --symlink-install
#---过程比较长，如遇报错或卡死建议单独编译对应模块（编译rviz_default_plugins模块是多次卡死）
colcon build --symlink-install --packages-select rviz_default_plugins
echo "source ~/ros2_humble/install/setup.bash" >> ~/.bashrc

#---测试
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key