ROS2 通过Debian安装ROS2

 设置语言环境

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

安装源

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

安装ROS2软件包

sudo apt update

sudo apt install ros-dashing-desktop

　　

sudo apt install ros-dashing-ros-base

环境设置

source /opt/ros/dashing/setup.bash

安装argcomplete

sudo apt install python3-argcomplete

　　

 安装Turtlebot3 软件包

sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
git clone -b ros2 https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd ~/turtlebot3_ws/src/turtlebot3
rm -r turtlebot3_cartographer turtlebot3_navigation2
cd ~/turtlebot3_ws/
echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc
source ~/.bashrc
colcon build --symlink-install --parallel-workers 1

域ID分配

echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
source ~/.bashrc　

参考

https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/

https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/