树莓派重新搭建ubuntu22.04安装ROS2步骤

• 安装ubuntu22.04桌面系统：
• 
• 安装网络工具，查看本地IP：

sudo apt-get install net-tools -y

• 安装ssh服务：

sudo apt-get install openssh-server -y

修改root密码：

sudo passwd root

安装vim:   

sudo apt-get install vim -y

•  如果安装不了vim:

• sudo apt purge vim-common
  sudo apt update
  sudo apt install vim

编配置文件：

sudo vim /etc/ssh/sshd_config

修改：

PermitRootLogin yes

sudo service ssh restart

至此可以使用putty连接树莓派。

• 更新源：

sudo vim /etc/apt/sources.list

deb http://mirrors.aliyun.com/ubuntu-ports focal main restricted

deb http://mirrors.aliyun.com/ubuntu-ports focal-updates main restricted

deb http://mirrors.aliyun.com/ubuntu-ports focal universe

deb http://mirrors.aliyun.com/ubuntu-ports focal-updates universe

deb http://mirrors.aliyun.com/ubuntu-ports focal multiverse

deb http://mirrors.aliyun.com/ubuntu-ports focal-updates multiverse

deb http://mirrors.aliyun.com/ubuntu-ports focal-backports main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu-ports focal-security main restricted

deb http://mirrors.aliyun.com/ubuntu-ports focal-security universe

deb http://mirrors.aliyun.com/ubuntu-ports focal-security multiverse

• ROS2一键安装：

wget http://fishros.com/install -O fishros && . fishros

• gazebo 3D库一键安装

cd ~/.gazebo && wget https://gitee.com/ohhuo/scripts/raw/master/gazebo_model.py && python3 gazebo_model.py