Ubuntu22.04安装ROS2 humble

第一部分 ROS2安装

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

         如在运行第二条指令时遇到“Failed to connect to raw.githubusercontent.com”，浏览

www.ipaddress.com

搜索下面链接的IP地址

raw.githubusercontent.com

执行下述指令

sudo gedit /etc/hosts

添加上面查询到的Ip地址至该文件第三行即可解决，如

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

        经过上述步骤，ROS2已经安装完成。

5、测试

        可以运行ROS2自带节点进行简单测试。

ros2 run turtlesim turtlesim_node

6、安装colcon

sudo apt install python3-colcon-common-extensions

7、colcon build警告

ubuntu22.04（5.19.38内核）下使用colcon build时会提示上述警告，由于setuptools版本过新，需安装低版本setuptools

pip install setuptools==58.2.0

参考链接： ROS 2 colcon build报错SetuptoolsDeprecationWarning: setup.py install is deprecated.

 第二部分 vscode插件

Python

C/C++

CMake

vscode-icons

ROS

Msg Language Support

Visual Studio IntelliCode

URDF

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