ROS2入门教程-linux下apt安装ROS2 Dashing

说明

• 在Linux环境下使用apt方式安装ROS2 Dashing

• 测试环境：Ubuntu 18.04 + ROS2 Dashing

安装步骤

• 设置语言环境

$ 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

• 添加密钥

$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -

• 然后将存储库添加到源列表：

$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

• 安装ROS2包

$ sudo apt update && sudo apt install ros-dashing-desktop

• 安装argcomplete

$ sudo apt install python3-argcomplete

• Sourcing the setup script in .bashrc

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

• 安装额外的中间件

$ sudo apt update
$ sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
$ sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)

• By setting the environment variable RMW_IMPLEMENTATION=rmw_opensplice_cpp you can switch to use OpenSplice instead. For ROS 2 releases Bouncy and newer, RMW_IMPLEMENTATION=rmw_connext_cpp can also be selected to use RTI Connext.

• If you want to install the Connext DDS-Security plugins please refer to this page.

• University, purchase or evaluation options are also available for RTI Connext.

测试使用

• 新终端，运行talker例子

$ ros2 run demo_nodes_cpp talker

• 新终端，运行listener例子

$ ros2 run demo_nodes_py listener