ROS2系统安装

ROS2系统安装
接下来，我们就可以把ROS2安装到Ubuntu系统中了。安装步骤如下：

1. 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

2. 添加源和密钥
   $ 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
   注意：如遇报错“Failed to connect to raw.githubusercontent.com”，可参考https://www.guyuehome.com/37844

3. 安装ROS2
   $ sudo apt update
   $ sudo apt upgrade
   $ sudo apt install ros-humble-desktop
   装gatactic版本时：
   sudo apt install ros-galactic-desktop
   sudo apt install ros-galactic-ros-base

4. 设置环境变量
   $ source /opt/ros/humble/setup.bash
   $ echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc
   ROS2示例测试
   先来试试ROS2最为重要的底层通信系统DDS是否正常吧。
   启动第一个终端，通过以下命令启动一个数据的发布者节点：
   $ ros2 run demo_nodes_cpp talker
   启动第二个终端，通过以下命令启动一个数据的订阅者节点：
   $ ros2 run demo_nodes_py listener
   示例二：小海龟仿真示例
   $ ros2 run turtlesim turtlesim_node
   $ ros2 run turtlesim turtle_teleop_key

ros2安装相关的

https://blog.csdn.net/amuro_ray027/article/details/117807412?spm=1001.2014.3001.5506