ROS2安装_ros2版本

1、版本选择

2、安装

ubuntu20.04-------------------------ROS2---------------------------------安装Foxy LST

2.1 安装ROS2

sudo apt update
sudo apt install ros-foxy-desktop
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2.2 设置环境变量

source /opt/ros/foxy/setup.bash
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出现警告：ROS_DISTRO was set to ‘noetic’ before. Please make sure that the environment does not mix paths from different distributions.

原因：安装了ROS1的noetic
解决方法：找到bashrc文件，注释noetic环境即可

2.3 安装自动补全工具

sudo apt install python3-argcomplete
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2.4 测试安装结果

运行talke如下：

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker
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再打开一个终端运行listener如下：

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp listener
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回头看，轻舟已过万重山！