Ubuntu22.04安装ROS2 humble

1.配置软件源关键打开终端依次输入sudo apt update sudo apt install software-properties-common sudo add-apt-repository universe2.添加ROS2 GPG密钥sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg如果报错SSL证书错误输入如下指令sudo curl -sSL --insecure https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg3.添加软件仓库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 | sudo tee /etc/apt/sources.list.d/ros2.list /dev/null4.安装ros2全家桶sudo apt update sudo apt upgrade -y sudo apt install ros-humble-desktop5.执行环境变量配置ROS2需要在每次使用前加载环境变量。5.1 临时加载仅在当前终端有效每次打开终端执行ROS2指令时都要输入以下指令source /opt/ros/humble/setup.bash5.2 每次打开终端时自动配置推荐可直接执行ROS2指令方案1直接输入以下指令echo source /opt/ros/humble/setup.bash ~/.bashrc source ~/.bashrc方案2编辑Shell配置文件nano ~/.bashrc在文件末尾添加一行source /opt/ros/humble/setup.bash写入CtrlO 确认Enter 保存并退出CtrlX然后重新加载配置source ~/.bashrc验证环境变量echo $ROS_DISTRO正确输出应该是humble6.验证安装是否成功打开两个终端分别输入# 终端1 ros2 run demo_nodes_cpp talker # 终端2 ros2 run demo_nodes_py listener看到talker和listener通信就成功了如下图所示7.自动补全配置输入以下指令sudo apt install python3-argcomplete ros2 complete ~/.bashrc如果输入第二条指令后报如下错误这是因为 ROS 2 并没有complete这个子命令。很多其他命令行工具比如kubectl支持通过kubectl completion bash来生成补全脚本但 ROS 2 使用的是 Python 的argcomplete模块因此配置自动补全的方式略有不同。添加补全脚本到.bashrc输入如下指令echo eval $(register-python-argcomplete3 ros2) ~/.bashrc echo eval $(register-python-argcomplete3 colcon) ~/.bashrc如果报错将argcomplete3后面的3删掉。刷新.bashrc使其生效source ~/.bashrc测试在终端中输入ROS2,然后按TAB键应该就能看到action,bag,component,launch,node等自动补全提示了如下图8.卸载ROS2# 卸载ROS2包 sudo apt remove ros-humble-* sudo apt remove ros-humble-desktop* # 清理配置文件和依赖 sudo apt autoremove sudo apt autoclean # 移除源 sudo rm /etc/apt/sources.list.d/ros2-latest.list # 移除GPG密钥 sudo apt-key del KEY_ID