在Ubuntu20.04下安装ROS2 Galactic

可以参考: https://docs.ros.org/en/galactic/进行ROS2 Galactic的安装。

1、测试语言环境

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、添加 ROS 2 apt 存储库

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

若使用上述命令报该错：
curl: (7) Failed to connect to raw.githubusercontent.com port 443: Connection refused
可以参考：
ROS2安装过程中，使用 apt 添加 ROS 2 GPG 密钥报错

3、将存储库添加到源列表中

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

4、安装ROS 2软件包

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 update

5、测试ROS2安装情况

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker

source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_py listener