ROS2官方文档
本教程为apt-get命令安装方式，官网教程有点问题，借鉴一下大佬的安装方式
1 安装ROS2
1.1 安装秘钥相关指令
sudo apt update && sudo apt install curl gnupg2 lsb-release
Reading package lists... Done
Building dependency tree
Reading state information... Done
lsb-release is already the newest version (9.20170808ubuntu1).
curl is already the newest version (7.58.0-2ubuntu3.16).
The following NEW packages will be installed:
gnupg2
0 upgraded, 1 newly installed, 0 to remove and 6 not upgraded.
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Fetched 5,292 B in 0s (37.9 kB/s)
Selecting previously unselected package gnupg2.
(Reading database ... 269610 files and directories currently installed.)
Preparing to unpack .../gnupg2_2.2.4-1ubuntu1.4_all.deb ...
Unpacking gnupg2 (2.2.4-1ubuntu1.4) ...
Setting up gnupg2 (2.2.4-1ubuntu1.4) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
1.2 授权秘钥
curl http://repo.ros2.org/repos.key | sudo apt-key add -
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OK
1.3 添加ROS2软件源
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt-get update
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Reading package lists... Done
1.4 安装
sudo apt install ros-dashing-desktop
- 补充：
本次安装直接安装了大礼包，ROS提供了两种默认搭配，如下：
#桌面版 : 包含ROS, RViz, demos, tutorials [推荐]
sudo apt install ros-dashing-desktop
#基础版:（包含通讯库、消息包、命令行工具，没有GUI工具）
sudo apt install ros-dashing-ros-base
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
cppcheck libxaw7-dev libxpm-dev pydocstyle pyflakes pyflakes3 python-funcsigs python-mock
python-pbr python-pyflakes python3-attr python3-bs4 python3-catkin-pkg-modules
.
.
.
Setting up ros-dashing-desktop (0.7.4-1bionic.20210521.235100) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
ROS2到这里就安装完了，安装目录为/opt/ros/dashing
2 设置环境（可选但是推荐）
- 说明：不想设置的话，就每次启动终端手动运行一下
source /opt/ros/dashing/setup.bash
2.1 未安装ROS1 / 默认使用ROS2
echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
source ~/.bashrc
2.2 装了ROS1，每次启动终端都手动选择版本
- 把下面的脚本添加到
~/.bashrc，然后执行source ~/.bashrc
#source /opt/ros/melodic/setup.bash
#source /opt/ros/dashing/setup.bash
# ROS 1.0 melodic or ROS 2.0 Dashing
echo ROS 1.0 or ROS 2.0? 1=Melodic 2=Dashing
read ROS
if (($ROS==1));then
source /opt/ros/melodic/setup.bash
echo "Melodic"
elif (($ROS==2));then
source /opt/ros/dashing/setup.bash
echo "Dashing"
fi
3 命令行自动补全键入（可选但是推荐）
- 说明：ROS2按
Tab键不会自动补全命令，如果希望有自动补全功能，需要安装一下
- 命令
sudo apt install python3-argcomplete
source /opt/ros/dashing/setup.sh
$ sudo apt install python3-argcomplete
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following NEW packages will be installed:
python3-argcomplete
0 upgraded, 1 newly installed, 0 to remove and 6 not upgraded.
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Unpacking python3-argcomplete (1.8.1-1ubuntu1) ...
Setting up python3-argcomplete (1.8.1-1ubuntu1) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
4 运行demo
跟ROS1一样，ROS2也提供了demo。
ros2 run demo_nodes_cpp listener
ros2 run demo_nodes_cpp talker
- 补充：
错误1：ros2: command not found
执行一下 2 设置环境变量
- 成功
listener终端：
$ ros2 run demo_nodes_cpp listener
[INFO] [listener]: I heard: [Hello World: 1]
[INFO] [listener]: I heard: [Hello World: 2]
[INFO] [listener]: I heard: [Hello World: 3]
[INFO] [listener]: I heard: [Hello World: 4]
[INFO] [listener]: I heard: [Hello World: 5]
talker终端：
$ ros2 run demo_nodes_cpp talker
[INFO] [talker]: Publishing: 'Hello World: 1'
[INFO] [talker]: Publishing: 'Hello World: 2'
[INFO] [talker]: Publishing: 'Hello World: 3'
[INFO] [talker]: Publishing: 'Hello World: 4'
[INFO] [talker]: Publishing: 'Hello World: 5'
5 安装ROS1 bridge（可选）
- 说明：ROS1 bridge提供了一个网桥，可以在 ROS 1 和 ROS 2 之间交换消息， 详情见官网
- 命令
sudo apt-get install ros-dashing-ros1-bridge
- demo：使用ROS1的方式运行talker，然后使用ROS2的方式运行listener
1 新开终端，启动roscore
source /opt/ros/melodic/setup.sh
roscore
2 新开终端，启动ROS1的talker
source /opt/ros/melodic/setup.sh
rosrun rospy_tutorials talker
3 新开终端，启动ROS2的listener
source /opt/ros/dashing/setup.sh
ros2 run demo_nodes_cpp listener
4 新开终端，启动ROS1 bridge
source /opt/ros/melodic/setup.sh
source /opt/ros/dashing/setup.sh
#设置默认地址，这一句可以不要
export ROS_MASTER_URI=http://localhost:11311
ros2 run ros1_bridge dynamic_bridge
6 附加RMW实现（可选）
- 说明：
1 ROS2相比ROS1，引入了DDS，DDS是一个国际标准，使用发布/订阅机制进行消息通讯
2 ROS2使用的默认中间件（RMW – ROS 2 middleware）是Cyclone DDS，RMW可以更换，DDS和RM官网文档
3 如果安装了多个RMW，可以通过设置环境变量来选择不同的RMW，如：RMW_IMPLEMENTATION=rmw_connext_cpp
- 命令
sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice
sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
7 安装colcon编译工具（推荐）
- 说明：ROS的编译工具经历了catkin、ament、colcon三个阶段，ROS2使用colcon，如果需要编译还是装一下
- 命令
sudo apt install python3-colcon-common-extensions
8 编译小乌龟demo
mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
//克隆到刚刚创建的src目录下
git clone https://github.com/ros/ros_tutorials.git -b dashing-devel
- 检查依赖项，如果所有的依赖项都正确，则控制台显示如下
$ rosdep install -i --from-path src --rosdistro dashing -y
#All required rosdeps installed successfully
$ colcon build
Starting >>> turtlesim
[Processing: turtlesim]
Finished <<< turtlesim [30.7s]
Summary: 1 package finished [30.8s]
