ROS2入门教程-在ubuntu18.04下源码安装ROS2 Dashing
说明
介绍如何Linux系统上源码安装ROS2
测试环境：Ubuntu 18.04 LTS + ROS2 Dashing
安装步骤
确保有一个支持UTF-8的locale设置。locale设置例子如下：
$ 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
设置源：
$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
$ 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'
安装相关的工具包和依赖
$ sudo apt update && sudo apt install -y \
build-essential \
cmake \
git \
python3-colcon-common-extensions \
python3-lark-parser \
python3-pip \
python-rosdep \
python3-vcstool \
wget
# install some pip packages needed for testing
$ python3 -m pip install -U \
argcomplete \
flake8 \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest \
pytest-cov \
pytest-runner \
setuptools
# install Fast-RTPS dependencies
$ sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev
创建工作空间并进行下载源码
$ mkdir -p ~/ros2_ws/src
$ cd ~/ros2_ws
$ wget https://raw.githubusercontent.com/ros2/ros2/dashing/ros2.repos
$ vcs import src < ros2.repos
用rosdep安装依赖项
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
编译所有包
$ cd ~/ros2_ws/
$ colcon build --symlink-install
测试使用
运行talker-listener例子测试是否成功安装
新终端，执行以下命令：
$ . ~/ros2_ws/install/local_setup.bash
$ ros2 run demo_nodes_cpp talker
新终端，执行以下命令：
$ . ~/ros2_ws/install/local_setup.bash
$ ros2 run demo_nodes_cpp listener
测试成功截图
参考资料
