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ROS2 Humble 安装指南

前置条件​

  • ReComputer 必须安装 Jetpack 5.1.2 和 Ubuntu 20.04 环境

设置语言环境​

locale  # 检查是否为 UTF-8
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
locale  # 验证设置

安装依赖项​

sudo apt update && sudo apt install gnupg wget
sudo apt install software-properties-common
sudo add-apt-repository universe

初始化源（选择一个区域）​

# 美国区域
echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | sudo tee -a /etc/apt/sources.list

# 中国区域
echo 'deb https://isaac.download.nvidia.cn/isaac-ros/ubuntu/main focal main' | sudo tee -a /etc/apt/sources.list

添加 ROS 2 APT 仓库​

sudo apt update && sudo apt install curl -y \
&& 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 focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

安装 ROS2​

sudo apt update
sudo apt install ros-humble-desktop-full  # 可选项: ros-humble-desktop-full, ros-humble-desktop, 或 ros-humble-ros-base

安装额外的构建工具​

sudo apt install ros-dev-tools

初始化 ROS 环境​

sudo rosdep init
rosdep update

设置 ROS 环境变量​

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

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