安装ros2

参考鱼香ROS安装教程

// 换源，编辑/etc/apt/sources.list文件, 删除原有内容，将以下内容加入
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

// 更新
sudo apt-get update
sudo apt-get upgrade

// 添加源
echo "deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
// 添加源对应的秘钥
sudo apt install curl gnupg2 -y
curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -
// 更新
sudo apt update    
// 安装ROS2,上面步骤完成后,安装就变得非常的简单了,一行指令搞定;
sudo apt install ros-humble-desktop
// 安装额外依赖
sudo apt install python3-argcomplete -y
// 添加环境变量
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

安装Nav2

// 安装turtlebot3-gazebo
sudo apt install ros-humble-turtlebot3-gazebo
// 源码编译安装nav2
mkdir -p ~/nav2_ws/src
cd ~/nav2_ws/src
git clone https://github.com/ros-planning/navigation2.git -b humble
cd ..
// rosdepc install -r --from-paths src --ignore-src --rosdistro humble -y
// 自动安装依赖好像有点问题，采用手动安装的方式
sudo apt-get install ros-humble-bondcpp ros-humble-test-msgs ros-humble-behaviortree-cpp-v3 ros-humble-diagnostic-updater ros-humble-ompl
colcon build --symlink-install
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False