ROS机器人操作系统

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前言

前面了解了ROS2是什么，工欲善其事必先利其器，下面我们来安装ROS2。

一、踩坑日记

记住一定一定要安装一个新的22.04的系统，20.04出现的问题，弄了一下午也没有解决，换了一个新的系统，一路上畅通无阻。

二、换源

1.更换中科大源

输入以下命令

sudo gedit /etc/apt/sources.list
sudo apt-get update
sudo apt-get upgrade

用下面的内容替换

deb https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

保存退出

三、安装ROS2

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 
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

这里可能会报错
执行

sudo vi /etc/hosts

添加下面这句话，重新执行就可以了

185.199.108.133 raw.githubusercontent.com

3.安装ROS2

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

4.设置环境变量

source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc 

四、小乌龟示例

运行

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

可以看到小乌龟出来了，至此ROS2安装完毕。

总结

ROS2的安装踩雷了，用22.04畅通无阻，中间出现其他问题就需要自己去解决了。