[亲测有效]Ubuntu20.04安装ROS1和ROS2

[亲测有效]Ubuntu20.04安装ROS1和ROS2

参考链接：https://www.guyuehome.com/35421

https://blog.csdn.net/qq_41276366/article/details/108810777#commentBox

在Ubuntu中打开“软件更新”，选择前四个。

配置网络，选择最佳服务器。

安装预备环境

sudo apt-get install python
sudo apt-get install  g++

1. ROS1安装

添加sources.list

 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

国内中国科技大学的源

  sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

添加Keys

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

安装ROS1桌面完整版

sudo apt update
sudo apt install ros-noetic-desktop-full

注意：在安装源的选择上，可以选择最佳的服务器或者usta源都可以，亲测有效。

环境测试

source /opt/ros/noetic/setup.bash

补全rosdep

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

2. ROS2安装

确保系统要支持 UTF-8:

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

设置软件源

sudo apt update
sudo apt install curl gnupg2 lsb-release

# 下面这条语句，我的输出错误： gpg: no valid OpenPGP data found
# curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# 解决上面的问题，可以换成下面这条语句：
$ curl http://repo.ros2.org/repos.key | sudo apt-key add - 

# 之后再添加源(自己电系统里选择的源):
  sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

安装ROS2 package

# 进入文件夹并修改ros2-latest.list文件
cd /etc/apt/sources.list.d
sudo vim ros2-latest.list

# 打开文本后出现
deb http://packages.ros.org/ros2/ubuntu bionic main
# 在deb后插入[arch=amd64]
deb [arch=amd64] http://packages.ros.org/ros2/ubuntu bionic main

# 保存并关闭,然后更新
sudo apt update
# 最后就可以进行安装了
sudo apt install ros-foxy-desktop

sudo apt install python3-colcon-common-extensions

注意：解决：dpkg: 错误: 另外一个进程已经为 dpkg frontend lock 加锁

$ ps -e | grep apt
   8925 pts/0    00:00:01 apt-get

$ sudo kill 8925

*（非必须）注意：如果ROS2缺失很多依赖，可以考虑卸载重新安装，卸载ROS2

sudo apt-get remove ros-foxy-*

2 sudo apt autoremove

安装rosdep和相关依赖：

rosdep install --from-path /opt/ros/foxy/src --ignore-src -r -y

环境测试

ource /opt/ros/foxy/setup.bash

自动补全工具

sudo apt update
sudo apt install python3-argcomplete
sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp  #(这句命令FQ后重新安装好ros2后，就可以运行成功了)

安装ros1转换bridge

sudo apt update
sudo apt install ros-foxy-ros1-bridge 

3.ROS1和ROS2混合配置

sudo gedit ~/.bashrc

打开.bashrc文本文件后在末尾加上如下代码，完成环境变量设置。

#source /opt/ros/noetic/setup.bash
echo "ros noetic(1) or ros2 foxy(2)?"
read edition
if [ "$edition" -eq "1" ];then
  source /opt/ros/noetic/setup.bash
else
  source /opt/ros/foxy/setup.bash
fi

4.ROS1和ROS2差异

编译

catkin_make --> colcon build

catkin_make -DCATKIN_WHITELIST_PACKAGES="" --> colcon build --packages-select  PACKAGE_NAME

bashrc存入

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc --> echo "source ~/colcon_ws/install/setup.bash" >> ~/.bashrc

terminal 命令

rosrun --> ros2 run
rosnode --> ros2 node
roslaunch --> ros2 launch
rosparam --> ros2 param
rospkg --> ros2 pkg
rosservice --> ros2 service 
rossrv --> ros2 srv
rostopic --> ros2 topic
rosaction --> ros2 action

注意：ROS2相比ROS1在语法上有了很大的改变，在编程思路还是一样。

参考链接：https://www.guyuehome.com/35421

https://blog.csdn.net/qq_41276366/article/details/108810777#commentBox

https://blog.csdn.net/weixin_48370221/article/details/115876753#commentBox