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locale
确保所用系统支持UTF-8编码,如果输出结果为支持UTF-8(如图所示),可直接进行下一步
否则运行如下指令
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 # 重新确认
sudo apt install software-properties-common
sudo add-apt-repository universe
更改“下载自”为国内源(此处选择华为源)
添加ROS2秘钥以及库
sudo apt update && sudo apt install curl
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
此处会出现报错:ailed to connect to raw.githubusercontent.com port 443 after 13 ms: 拒绝连接
在/etc/hosts中加入一行,完整过程如下
- 打开目标文件/etc/hosts
sudo gedit /etc/hosts
- 添加第三行信息
127.0.0.1 localhost
127.0.1.1 iron-virtual-machine
185.199.108.133 raw.githubusercontent.com
sudo apt update
sudo apt upgrade
sudo apt install ros-foxy-desktop python3-argcomplete
若在添加ROS2秘钥及库到执行安装ros-foxy-desktop步骤间隔时间过长,会导致报错:无法定位到ros-foxy-desktop软件包,此时重新执行添加ROS2秘钥及库
echo " source /opt/ros/foxy/setup.bash" >> ~/.bashrc
source ~/.bashrc
方案一: talker、listener例程
- 打开一个终端启动talker进程
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker
- 再打开一个终端启动listener进程
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener
方案二:小乌龟例程
- 打开一个终端启动小乌龟节点
ros2 run turtlesim turtlesim_node
- 再打开一个终端启动小乌龟运动控制节点
ros2 run turtlesim turtle_teleop_key
在.bashrc文件中添加一个切换选择语句如下:
- 打开文件
sudo gedit ~/.bashrc
- 在文件末尾添加如下代码:
# Select ROS1 or ROS2
echo "ROS1 noetic(1) or ROS2 foxy(2)?"
read edition
if [ "$edition" -eq "1" ];then
source /opt/ros/noetic/setup.bash
else
source /opt/ros/foxy/setup.bash
fi
每次启动终端时,输入1或者2来选择用ROS1还是ROS2
(此处参考知乎博主:铅笔永动机
参考文章链接:ROS系统 ROS1与ROS2共存使用切换方法 - 铅笔永动机的文章 - 知乎)
source ~/.bashrc
后出现问题:ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
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