Ubuntu20.04安裝ROS2-foxy

一、設置時區及語言

locale  # check for 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  # verify settings

二、添加ros2源

sudo apt update && sudo apt install curl gnupg2 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

三、安裝ros2

sudo apt update
sudo apt install ros-foxy-desktop

#如果電腦已有ros1,就不要把下面命令加入.bashrc中
source /opt/ros/foxy/setup.bash

四、新一代包構建工具colcon

colcon獨立於ros，沒有包含在ros的功能包中，需要我們自己安裝

sudo apt install python3-colcon-common-extensions

#添加colcon環境變量到shell
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/foxy/" >> ~/.bashrc

#Setup colcon tab completion
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

#Tips
#1、如果不想構建特定的包，請在包目錄中放置一個名為COLCON_IGNORE的空文件，它將不會被索引。

五、創建功能包及用colcon編譯

mkdir -p ros2/src
cd ros2/src

ros2 pkg create --dependencies std_msgs rclcpp --node-name my_node my_package

cd ..
colcon build
#編譯指定包
colcon build --packages-up-to pkg_name

source install/setup.bash

ros2 run my_package my_node