Ubuntu环境下安装并简单测试ros2

1.设置编码

apt update && apt install locales
locale-gen en_US en_US.UTF-8
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

2.添加源

apt update && apt install curl gnupg lsb-release
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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. 安装ROS2

apt update
apt upgrade
apt install ros-humble-desktop

## 如果ros-humble-desktop无法下载使用，可以使用ros-poxy-desktop

4. 设置环境变量

source /opt/ros/humble/setup.bash
echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc

5.ROS2示例测试

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener

6.小海龟仿真示例
启动两个终端，分别运行如下指令：

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key