构建Nav2依赖项

mkdir -p ~/nav2_depend_ws/src
cd ~/nav2_depend_ws
wget https://raw.githubusercontent.com/ros-planning/navigation2/main/tools/underlay.repos
// 修改underlay.repos，将BehaviorTree、ros/bond_core的注释部分打开，然后下载源码
vcs import src < underlay.repos
vcs custom --args checkout humble
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
echo " source ~/nav2_depend_ws/install/setup.bash" >> ~/.bashrc

构建Nav2主分支

source ~/.bashrc
mkdir -p ~/nav2_ws/src
git clone https://github.com/ros-planning/navigation2.git --branch main
cd navigation2/
git checkout humble 
cd ~/nav2_ws/
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
colcon build --symlink-install
// 坑：这个地方一直提示BehaviorTree_V3找不到，应该是安装版本的问题，20.04的源码编译就没再继续了，有时间再继续弄