參考：

https://zhuanlan.zhihu.com/p/702727186

前言：

筆記本安裝了ubuntu20.04安裝ros一直失敗，于是將系統升級為ununut22.04，然后安裝ros，根據上面的教程，目前看來是有可能成功的。

系統升級為ununut22.04，pcl可以打開pcd文件，未受影響。

安裝humble：

設置編碼

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

添加密鑰

# 安裝下載軟件源和密鑰的指令
sudo apt update && sudo apt install curl -y
# 設置下載軟件源的密鑰
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

添加apt源

千萬注意，如果你是arm64架構，國內源路徑中/ubuntu/，務必改成/ubuntu-ports/，一般大家都默認是x86架構

清華源、阿里源都可以

sudo gedit /etc/apt/sources.list

把下面代碼拷貝到sources.list中

deb https://mirrors.aliyun.com/ubuntu-ports/ jammy main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-security main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-updates main restricted universe multiverse# deb https://mirrors.aliyun.com/ubuntu-ports/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-proposed main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-backports main restricted universe multiverse

安裝humble-desktop

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

環境變量

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

后記

實際上到這一步完成，就可以打開小烏龜移動了。下面的也沒搞明白干啥的。安裝起來非常慢。也跟著做了。

安裝ROS2包

sudo apt update
# 下面這個命令意思是，所有humble包全部安裝，大概4GB，我在網絡環境一般的情況下，安裝了10個小時（網絡真的很一般）
sudo apt install ros-humble-****

小海龜測試

打開一個terminal，輸入：ros2 run turtlesim turtlesim_node

再打開一個terminal，輸入：ros2 run turtlesim turtle_teleop_key