ubuntu初始环境配置ROS2
换源
- 备份原来的文件
sudo cp /etc/apt/sources.list /etc/apt/sources_init.list
- 换源
sudo gedit /etc/apt/sources.list
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
诺后面出现安装的一些问题，有可能是换的源不行，请自行去网上搜一下其他的源下载
- 执行更新命令
sudo apt-get update
sudo apt-get upgrade
安装ROS2
- 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
sudo apt install software-properties-common
sudo add-apt-repository universe
- 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
如遇报错“Failed to connect to raw.githubusercontent.com”，可参考https://www.guyuehome.com/37844
- 安装ROS2
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
sudo apt update && sudo apt install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
python3-flake8-blind-except \
python3-flake8-builtins \
python3-flake8-class-newline \
python3-flake8-comprehensions \
python3-flake8-deprecated \
python3-flake8-import-order \
python3-flake8-quotes \
python3-pytest-repeat \
python3-pytest-rerunfailures \
ros-dev-tools
- 设置环境变量
source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
- 测试是否安装完成
# 一个终端
ros2 run demo_nodes_cpp talker
# 另一个终端
ros2 run demo_nodes_py listener
安装终端多窗口分屏工具Terminator
下载：
sudo apt-get install terminator
运行：
terminator
常用快捷键：
Ctrl+Shift+E 垂直分割窗口
Ctrl+Shift+O 水平分割窗口
F11 全屏
Ctrl+Shift+C 复制
Ctrl+Shift+V 粘贴
Ctrl+Shift+N 或者 Ctrl+Tab 在分割的各窗口之间切换
Ctrl+Shift+X 将分割的某一个窗口放大至全屏使用
Ctrl+Shift+Z 从放大至全屏的某一窗口回到多窗格界面
安装vim
安装：
sudo apt install vim
确认vim版本（确认是否安装成功）：
vim --version