ROS2 ubuntu20.04安装

说明: 网络最好有VPN, 否则有些指令执行不成功, 如果没有VPN, 那么多执行几次, 总会OK

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb  `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update

sudo mkdir -p /ROS2/{tools,foxy,big}; sudo chown iibull:iibull /ROS2 -R

下载 Binary ROS2: https://github.com/ros2/ros2/releases
cd /ROS2/tools; wget -c https://github.com/ros2/ros2/releases/download/release-foxy-20200605/ros2-foxy-20200605-linux-focal-amd64.tar.bz2;
tar xf ros2-foxy-20200605-linux-focal-amd64.tar.bz2 ../foxy/;

cd ..
rosdep install --from-paths foxy/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"

sudo apt install -y libpython3-dev
sudo apt install python3-argcomplete
sudo apt install ros-foxy-rmw-connext-cpp ros-foxy-rmw-connext-shared-cpp
验证安装
source /ROS2/foxy/setup.bash
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener