ubuntu初始环境配置ROS2

换源

备份原来的文件

sudo cp /etc/apt/sources.list /etc/apt/sources_init.list

换源

sudo gedit /etc/apt/sources.list

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

诺后面出现安装的一些问题，有可能是换的源不行，请自行去网上搜一下其他的源下载

执行更新命令

sudo apt-get update
sudo apt-get upgrade

安装ROS2

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

sudo apt install software-properties-common
sudo add-apt-repository universe

添加源

sudo apt update &amp;&amp; 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

如遇报错“Failed to connect to raw.githubusercontent.com”，可参考https://www.guyuehome.com/37844

安装ROS2

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

sudo apt update && sudo apt install -y \
  python3-flake8-docstrings \
  python3-pip \
  python3-pytest-cov \
  python3-flake8-blind-except \
  python3-flake8-builtins \
  python3-flake8-class-newline \
  python3-flake8-comprehensions \
  python3-flake8-deprecated \
  python3-flake8-import-order \
  python3-flake8-quotes \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  ros-dev-tools

设置环境变量

source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

测试是否安装完成

# 一个终端
ros2 run demo_nodes_cpp talker
# 另一个终端
ros2 run demo_nodes_py listener

安装终端多窗口分屏工具Terminator

下载：

sudo apt-get install terminator

运行：

terminator

常用快捷键：

Ctrl+Shift+E    垂直分割窗口
Ctrl+Shift+O    水平分割窗口
    F11         全屏
Ctrl+Shift+C    复制
Ctrl+Shift+V    粘贴
Ctrl+Shift+N    或者 Ctrl+Tab 在分割的各窗口之间切换
Ctrl+Shift+X    将分割的某一个窗口放大至全屏使用
Ctrl+Shift+Z    从放大至全屏的某一窗口回到多窗格界面