問題描述

安裝ROS底層系統時，經常遇到一個情況就是apt找不到ros的對應版本

解決方案

添加ros官方給的apt源和安裝密鑰

ROS1

# ros獎項
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 獲取ROS密鑰
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -  

ROS2

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -  #獲取ROS密鑰
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

現在就可以安裝了

比如ROS1的melodic：

sudo apt update
sudo apt install ros-melodic-desktop

比如ROS2的humble

sudo apt-get update
sudo apt-get install ros-humble-desktop

初始化rosdep

sudo rosdep init
rosdep update

設置環境變量

melodic:

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

humble:

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

測試安裝結果

ROS1測試方法

啟動核心節點：

roscore

運行示例 publisher ：

rosrun rospy_tutorials talker.py

運行示例 subscriber

rosrun roscpp_tutorials listener

ROS2測試方法

直接啟動publisher和subscriber：

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener