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ROS2 Humble 安装

ROS 2 是下一代开源机器人中间件，专为构建实时、可靠和可扩展的机器人系统而设计。本 wiki 将以 Jetson 为例演示 ROS 2 的详细安装过程。

设置区域设置​

locale  # check for 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  # verify settings

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）​

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

# China Region
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  # Options: ros-humble-desktop-full, ros-humble-desktop, or 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

为了验证 ROS2 是否已成功安装，我们可以在设备中创建两个新终端并分别运行以下命令。

# terminal1
ros2 run demo_nodes_cpp talker

# terminal2
ros2 run demo_nodes_py listener

如果两个终端都打印出消息，说明 ROS 2 Humble 已成功安装！🎉

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