Ubuntu22.04安装ros-humble(ros2)

一、简介

ros2的humble版本是支持ubuntu22.04 的长期版本。Ubuntu22.04和ros2 humble搭配使用。此Ubuntu版本没有官方支持的ros1

二、更新系统软件源

#1.备份Ubuntu源
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

#2.修改Ubuntu源
sudo vim /etc/apt/sources.list

#方式一：执行如下指令自动替换（推荐），然后手动屏蔽deb-src链接和jammy-proposed链接
sudo sed -i "s@http://.*archive.ubuntu.com@https://mirrors.aliyun.com@g" /etc/apt/sources.list
sudo sed -i "s@http://.*security.ubuntu.com@https://mirrors.aliyun.com@g" /etc/apt/sources.list

#方式二：手动替换（不推荐）
#删除默认全部内容快捷键：按esc键后，先按gg（到达顶部），然后dG
#默认注释了deb-src源码镜像和proposed预发布源，以提高apt update速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse

# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

然后终端执行如下指令：

sudo apt update

如果sudo apt update更新出现如下错误，是系统时间不对。

三、设置ros2软件源

#设置ros2源
sudo apt install curl gnupg2
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 jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update

#如果网络不行，可以使用如下链接中描述的方法安装ros2
http://fishros.com

四、安装ros2

sudo apt install ros-humble-desktop

五、设置环境变量

echo "source /opt/ros/humble/setup.bash" >> ~.bashrc
#设置colcon命令补全，作用很大，提高效率
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc