ros2-foxy安装流程
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ros2-foxy安装流程
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| # 更换源
su - root
cp /etc/apt/sources.list /etc/apt/sources.list.sbak
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal main restricted" > /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-updates main restricted" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal universe" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-updates universe" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal multiverse" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-updates multiverse" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-backports main restricted universe multiverse" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-security main restricted" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-security universe" >> /etc/apt/sources.list
echo "deb http://mirrors.ustc.edu.cn/ubuntu/ focal-security multiverse" >> /etc/apt/sources.list
su - w
sudo apt update
sudo apt upgrade -y
# 安装常用软件
sudo apt install -y curl gnupg2 vim git
# 配置语言
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
# 添加ROS源
su - root
echo "185.199.108.133 raw.githubusercontent.com" >> /etc/hosts
su - w
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] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
# 安装ROS
sudo apt install -y ros-foxy-desktop
sudo apt install -y ros-foxy-gazebo-*
sudo apt install -y ros-foxy-turtlebot3*
sudo apt install -y ros-foxy-rqt
sudo apt install -y ros-foxy-usb-cam ros-foxy-usb-cam-dbgsym
sudo apt install -y ros-foxy-xacro
sudo apt install -y ros-foxy-turtlebot3-msgs
sudo apt install -y ros-foxy-dynamixel-sdk
sudo apt install -y ros-foxy-hls-lfcd-lds-driver
sudo apt install -y ros-foxy-gazebo-ros-pkgs
sudo apt install -y ros-foxy-cartographer
sudo apt install -y ros-foxy-cartographer-ros
sudo apt install -y ros-foxy-navigation2
sudo apt install -y ros-foxy-nav2-bringup
sudo apt install -y python3-colcon-common-extensions
sudo apt install -y python3-bloom python3-rosdep fakeroot python3-pip
pip3 install setuptools==58.2.0
python3 -m pip install launchpadlib
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update
# 配置环境变量
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
echo "export GAZEBO_MODEL_PATH=:/opt/ros/foxy/share/turtlebot3_gazebo/models" >> ~/.bashrc
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc
# 添加gazebo模型
git clone https://ghproxy.com/https://github.com/osrf/gazebo_models.git
mv gazebo_models/ ~/.gazebo/models
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