Install ros2--galactic version on ubuntu20.04, and some environment configurations
Look at the official documentation:
Ubuntu (Debian) - ROS 2 Documentation: Galaxy Documentation
official installation
1. Check the encoding format: require locale to support UTF-8
locale # check for UTF-8
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
locale # verify settings2. Add ROS 2 apt repository
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null3. Install the ROS 2 package
sudo apt update
sudo apt upgrade
sudo apt install ros-galactic-desktop
sudo apt install ros-galactic-ros-base
sudo apt install ros-dev-tools
sudo apt upgrade
sudo rosdep init
rosdep updateDone, enter the example test
. ~/ros2_galactic/install/local_setup.bash
ros2 run demo_nodes_cpp talker
If you think the official installation is too troublesome, you can use Xiaoyu's one-click installation to save time and worry.
One-click installation environment of Yuxiang ros
Terminal input command:
wget http://fishros.com/install -O fishros && . fishros
1. Install ros2--galactic
Select numbers:
[1]: One-click installation: ROS (supports ROS and ROS2, Raspberry Pi Jetson)
[1]: Replace the system source and continue the installation
[3]:galactic(ROS2)
[1]: galactic (ROS2) desktop version
2. Install the VScode environment
[7]: One-click installation: VsCode development tools
Install the plugin:
Chinese language pack, vscode-icons,
Python ，Pylance，C++ ，C/C++ Themes，C/C++ Extension Pack，CMake，CMake Tools，
ROS ，RTOS Views，Rosbag Preview ，URDF
Msg Language Support ，Visual Studio IntelliCode ，Markdown All in One
Docker, Cortex-Debug, debug-tracker-vscode, MemoryView, translation (English-Chinese dictionary)
Rviz visualization tool
Since rviz2 has already been installed when installing ros2 with one click, there is no need to install it here
sudo apt install ros-galactic-rviz2
Gazebo simulation:
install command
sudo apt install gazebo11
foxglove tool
Installation: Download - Foxglove
See the live connection section Live connection: ROS 2 - Docs - Foxglove
Directly git clone https://github.com/foxglove/ros-foxglove-bridge.git to the src folder of the workspace and then colcon build along with the project to visualize it
cd ws
git clone https://github.com/foxglove/ros-foxglove-bridge.git src/ros-foxglove-bridge
rosdep update
rosdep install --ignore-src --default-yes --from-path src
编译
colcon build --event-handlers console_direct+ --symlink-install
source install/local_setup.bash
Start the bridge to bind the port
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765