一、ROS2(Iron Irwini)介紹
官方文檔
Iron Irwini版本支持的平臺(tái)如下：
二、ROS2(Iron Irwini)安裝
1.設(shè)置編碼
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
2.使能代碼庫(kù)
sudo apt install software-properties-common
sudo add-apt-repository universe
現(xiàn)在用apt添加帶ROS 2 GPG關(guān)鍵字
sudo apt update && 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
將存儲(chǔ)庫(kù)添加到源列表中
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
3.安裝ROS2 Iron
sudo apt update
sudo apt upgrade
sudo apt install ros-iron-desktop ros-iron-ros-base ros-dev-tools
三、ROS2測(cè)試
在terminal 1 運(yùn)行下面的指令：
source /opt/ros/iron/setup.bash
ros2 run demo_nodes_cpp talker
在terminal 2 運(yùn)行下面的指令：
source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener
文章來(lái)源：http://www.zghlxwxcb.cn/news/detail-688409.html
四、ROS2卸載
sudo apt remove ~nros-iron-* && sudo apt autoremove
刪除ROS2庫(kù)：文章來(lái)源地址http://www.zghlxwxcb.cn/news/detail-688409.html
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade
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