ubuntu18.04 安装ros2教程及环境配置

1. ros2安装

1.1添加ros2 软件源

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] http://packages.ros.org/ros2/ubuntu bionic main" > /etc/apt/sources.list.d/ros2-latest.list'

执行第二句时报错：gpg: no valid OpenPGP data found
解决办法：上述命令中有管道符号，curl是个类似下载的命令，因此尝试将上述命令分开两步执行

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
sudo apt-key add ros.asc

第三句相比官网做了修改，避免后面链接国外源失败的情况

1.2安装ros-eloquent和相关依赖

sudo apt update
sudo apt install ros-eloquent-desktop

1.3安装python3库

sudo apt install -y libpython3-dev python3-pip
pip3 install -U argcomplete

1.4环境变量设置

1. ROS2单独存在

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

2. ROS1和ROS2共存

echo "ros melodic(1) or ros2 dashing(2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/melodic/setup.bash
  #在这里继续添加source ROS1的工作空间
else
  source /opt/ros/eloquent/setup.bash
  #source ~/ros2_ws/install/local_setup.bash
fi

2.ROS2依赖配置

2.1解决功能包依赖

sudo apt-get install python3-pip
sudo pip3 install rosdepc
sudo rosdepc init & rosdepc update

2.2安装colcon编译工具

sudo apt-get install python3-colcon-ros

3.使用ros2

3.1创建ros2工作空间

mkdir -p ros2_ws/src

3.2创建功能包

ros2 pkg creat --build-type ament_cmake pkc_name   # c++功能包
ros2 pkg creat --build-type ament_python pkg_name  # python功能包

这里与ros1有区别，创建功能包需要指定语言

3.3编译

colcon build