【经验总结】Ubuntu 22.04 安装 ROS

版本选择

电脑配置

• Ubuntu 22.04.3 LTS

ROS 版本

ROS1[https://wiki.ros.org/Distributions]

ROS2[https://docs.ros.org/en/humble/Releases.html]
UbuntuROS1Release dateEnd of LifeUbuntu 20.04 LTSNoetic NinjemysMay 23rd, 2020May, 2025Ubuntu 18.04 LTSMelodic MoreniaMay 23rd, 2018May, 2023Ubuntu 17.04 LTSLunar LoggerheadMay 23rd, 2017May, 2019Ubuntu 16.04 LTSKinetic KameMay 23rd, 2016April, 2021Ubuntu 15.04 LTSJade TurtleMay 23rd, 2015May, 2017Ubuntu 14.04 LTSIndigo lglooJuly 22nd, 2014April, 2019UbuntuROS2Release dateEnd of LifeUbuntu 22.04 LTSIron IrwiniMay 23rd, 2023November 2024Ubuntu 22.04 LTSHumble HawksbillMay 23rd, 2022May 2027Ubuntu 20.04 LTSGalactic GeocheloneMay 23rd, 2021December 9th, 2022Ubuntu 20.04 LTSFoxy FitzroyJune 5th, 2020June 20th, 2023Ubuntu 18.04 LTSEloquent ElusorNovember 22nd, 2019November 2020Ubuntu 18.04 LTSDashing DiademataMay 31st, 2019May 2021Ubuntu 18.04 LTSCrystal ClemmysDecember 14th, 2018December 2019Ubuntu 18.04 LTSUbuntu 16.04 LTSBouncy BolsonJuly 2nd, 2018July 2019Ubuntu 16.04 LTSArdent ApaloneDecember 8th, 2017December 2018

• 最后选择安装 Humble Hawksbill on Ubuntu Linux 22.04, Windows 10

安装 ROS2 Humble Hawksbill 系统

设置语言环境编码

locale  # 检查UTF-8

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  # 验证设置

设置源

• 确保 Ubuntu Universe 存储库已启用

sudo apt install software-properties-common
sudo add-apt-repository universe

• 使用 apt 添加 ROS 2 GPG 密钥

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• 将存储库添加到您的源列表中

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

安装 ROS2 软件包（安装时间比较久，请耐心等待）

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

设置环境

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

测试系统

通信系统测试

• 启动第一个终端，输入以下命令启动数据发布者节点

ros2 run demo_nodes_cpp talker

• 启动第二个终端，输入以下命令启动数据订阅者节点

ros2 run demo_nodes_py listener

• 发布者发出“Hello World”，而订阅者收到“Hello World”，则验证 C++ 和 Python API 正常工作

小海龟仿真器

• 启动第一个终端，输入以下命令启动海龟仿真器

ros2 run turtlesim turtlesim_node

• 启动第二个终端，输入以下命令启动键盘控制节点

ros2 run turtlesim turtle_teleop_key

• 在第二个终端点击上下左右按键，可以控制小海龟运动

卸载 ROS2 Humble Hawksbill 系统

卸载 ROS 2 或切换到基于源的安装

sudo apt remove ~nros-humble-*
sudo apt autoremove

删除存储库

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
sudo apt upgrade