{"id":264,"date":"2024-09-30T17:34:50","date_gmt":"2024-09-30T09:34:50","guid":{"rendered":"https:\/\/www.armfun.cn\/?p=264"},"modified":"2024-09-30T19:11:18","modified_gmt":"2024-09-30T11:11:18","slug":"ubuntu-22-04-%e5%ae%89%e8%a3%85-ros-2-humble-hawksbill","status":"publish","type":"post","link":"https:\/\/www.armfun.cn\/?p=264","title":{"rendered":"Ubuntu 22.04 \u5b89\u88c5 ROS 2 Humble Hawksbill"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\"><strong>Humble Hawksbill (LTS, 2022)<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53d1\u5e03\u65e5\u671f<\/strong>\uff1a2022\u5e745\u6708<\/li>\n\n\n\n<li><strong>\u652f\u6301\u671f\u9650<\/strong>\uff1a\u622a\u81f3 2027\u5e745\u6708<\/li>\n\n\n\n<li><strong>\u7279\u70b9<\/strong>\uff1aHumble \u662f\u4e00\u4e2a\u6700\u65b0\u7684 LTS\uff08\u957f\u671f\u652f\u6301\uff09\u7248\u672c\uff0c\u4ee3\u8868\u4e86 ROS 2 \u7684\u5f53\u524d\u53d1\u5c55\u65b9\u5411\uff0c\u5305\u542b\u4e86\u8bb8\u591a\u65b0\u7279\u6027\u548c\u4f18\u5316\uff0c\u652f\u6301\u65f6\u95f4\u957f\u8fbe5\u5e74\u3002\u76f8\u8f83\u4e8e Foxy\uff0cHumble \u652f\u6301\u66f4\u591a\u7684\u65b0\u529f\u80fd\u548c\u73b0\u4ee3\u5316\u7684\u5de5\u5177\u94fe\uff0c\u7279\u522b\u662f\u5728\u6027\u80fd\u548c\u5b9e\u65f6\u6027\u65b9\u9762\u6709\u4e86\u663e\u8457\u6539\u8fdb\u3002<\/li>\n\n\n\n<li><strong>\u9002\u7528\u573a\u666f<\/strong>\uff1a\u9002\u5408\u957f\u671f\u9879\u76ee\u3001\u7a33\u5b9a\u6027\u8981\u6c42\u9ad8\u7684\u5de5\u4e1a\u5e94\u7528\u3002\u5efa\u8bae\u5927\u591a\u6570\u65b0\u9879\u76ee\u9009\u62e9\u8be5\u7248\u672c\uff0c\u7279\u522b\u662f\u5982\u679c\u4f60\u5e0c\u671b\u4f7f\u7528\u672a\u6765\u6570\u5e74\u7684\u6700\u65b0\u529f\u80fd\u548c\u6539\u8fdb\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u5728 <strong>Ubuntu<\/strong> \u4e0a\u5b89\u88c5 <strong>ROS 2 Humble Hawksbill<\/strong> \u7248\u672c\uff0c\u4e3b\u8981\u6b65\u9aa4\u5305\u62ec\u8bbe\u7f6e\u7cfb\u7edf\u6e90\u3001\u5b89\u88c5\u5fc5\u8981\u7684\u5de5\u5177\u548c\u5e93\u3001\u4ee5\u53ca\u5b89\u88c5 ROS 2 \u81ea\u8eab\u3002\u4e0b\u9762\u662f\u8be6\u7ec6\u7684\u5b89\u88c5\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>\u8bbe\u7f6e\u6e90\u5217\u8868<\/strong><\/h3>\n\n\n\n<p>\u9996\u5148\uff0c\u786e\u4fdd\u4f60\u6b63\u5728\u8fd0\u884c Ubuntu 22.04 \u6216\u66f4\u65b0\u7684\u7248\u672c\uff0c\u56e0\u4e3a ROS 2 Humble Hawksbill \u4e3b\u8981\u652f\u6301 Ubuntu 22.04\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/\u4f7f\u80fdUbuntu Universe repository\nsudo apt install software-properties-common\nsudo add-apt-repository universe\n\/\/APT\u6dfb\u52a0ROS 2 GPG key\nsudo apt update &amp;&amp; sudo apt install curl -y\nsudo curl -sSL https:\/\/mirrors.tuna.tsinghua.edu.cn\/ros2\/ros.key -o \/usr\/share\/keyrings\/ros-archive-keyring.gpg\n\/\/\u5982\u679c\u6267\u884c\u5931\u8d25\uff0c\u4e0b\u8f7d\u9644\u4ef6ros.key\u624b\u52a8\u5b89\u88c5sudo cp ros.key \/usr\/share\/keyrings\/ros-archive-keyring.gpg\n\/\/\u5411sources list \u6dfb\u52a0ROS2 repository\necho \"deb &#91;arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] https:\/\/mirrors.tuna.tsinghua.edu.cn\/ros2\/ubuntu\/ $(lsb_release -cs) main\" | sudo tee \/etc\/apt\/sources.list.d\/ros2.list > \/dev\/null\n<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\u5b89\u88c5 ROS 2<\/strong><\/h3>\n\n\n\n<p>\u73b0\u5728\u4f60\u53ef\u4ee5\u5b89\u88c5 ROS 2 Humble\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u66f4\u65b0\u5305\u7d22\u5f15\uff1a<code>sudo apt update<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5\u5b8c\u6574\u7248\u7684 ROS 2\uff0c\u5305\u62ec\u5f00\u53d1\u5de5\u5177\uff1a<code>sudo apt install ros-humble-desktop <\/code>\u5982\u679c\u4f60\u53ea\u9700\u8981\u57fa\u672c\u529f\u80fd\uff08\u4e0d\u5305\u62ec GUI \u5de5\u5177\uff0c\u5982 <code>rviz<\/code> \u548c <code>gazebo<\/code>\uff09\uff0c\u4f60\u53ef\u4ee5\u9009\u62e9\u5b89\u88c5 <code>ros-humble-base<\/code>\uff1a<code>sudo apt install ros-humble-ros-base<\/code><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">3. <strong>\u8bbe\u7f6e\u73af\u5883<\/strong><\/h3>\n\n\n\n<p>\u5728 ROS 2 \u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u4f60\u9700\u8981\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf\u4ee5\u4fbf\u4f7f\u7528 ROS 2 \u547d\u4ee4\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5c06 <code>setup.bash<\/code> \u52a0\u5165\u5230\u7ec8\u7aef\u7684\u73af\u5883\u914d\u7f6e\u6587\u4ef6\u4e2d\uff08\u5982 <code>.bashrc<\/code>\uff09\uff1a<code>echo \"source \/opt\/ros\/humble\/setup.bash\" >> ~\/.bashrc<\/code><\/li>\n\n\n\n<li>\u6216\u8005\uff0c\u624b\u52a8\u5728\u5f53\u524d\u7ec8\u7aef\u4e2d\u8fd0\u884c\uff1a<code>source \/opt\/ros\/humble\/setup.bash<\/code><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">4. <strong>\u5b89\u88c5\u4f9d\u8d56\u548c\u5de5\u5177<\/strong><\/h3>\n\n\n\n<p>\u4e3a\u4e86\u65b9\u4fbf\u5f00\u53d1\uff0c\u4f60\u53ef\u80fd\u8fd8\u9700\u8981\u5b89\u88c5\u4e00\u4e9b\u5e38\u7528\u7684\u5de5\u5177\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5b89\u88c5 <code>colcon<\/code>\uff0c\u5b83\u662f ROS 2 \u7684\u6784\u5efa\u5de5\u5177\uff1a<code>sudo apt install python3-colcon-common-extensions<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5\u4e00\u4e9b\u8c03\u8bd5\u548c\u5f00\u53d1\u7528\u7684\u5de5\u5177\uff1a<code>sudo apt install python3-argcomplete<\/code><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">5. <strong>\u6d4b\u8bd5\u5b89\u88c5<\/strong><\/h3>\n\n\n\n<p>\u4f60\u53ef\u4ee5\u901a\u8fc7\u8fd0\u884c\u4e00\u4e9b\u7b80\u5355\u7684 ROS 2 \u8282\u70b9\u6765\u6d4b\u8bd5\u5b89\u88c5\u662f\u5426\u6210\u529f\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u542f\u52a8 ROS 2 \u8282\u70b9\uff1a<code>ros2 run demo_nodes_cpp talker<\/code><\/li>\n\n\n\n<li>\u5728\u53e6\u4e00\u4e2a\u7ec8\u7aef\u7a97\u53e3\u4e2d\uff0c\u542f\u52a8\u4e00\u4e2a\u76d1\u542c\u8282\u70b9\uff1a<code>ros2 run demo_nodes_cpp listener<\/code><\/li>\n<\/ol>\n\n\n\n<p>\u5982\u679c\u4f60\u770b\u5230\u4e24\u4e2a\u8282\u70b9\u6b63\u5e38\u901a\u4fe1\uff08\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u4e4b\u95f4\u4f20\u9012\u6d88\u606f\uff09\uff0c\u8bf4\u660e ROS 2 \u5b89\u88c5\u6210\u529f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">6. <strong>\u53ef\u9009\uff1a\u5b89\u88c5\u5176\u4ed6\u5de5\u5177<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b89\u88c5 <strong>Gazebo<\/strong> \u6a21\u62df\u5668\uff1a<code>sudo apt install ros-humble-gazebo-ros-pkgs<\/code><\/li>\n\n\n\n<li>\u5b89\u88c5 <strong>Rviz<\/strong> \u53ef\u89c6\u5316\u5de5\u5177\uff08\u5982\u679c\u672a\u5b89\u88c5\u5b8c\u6574\u7248\uff09\uff1a<code>sudo apt install ros-humble-rviz2<\/code><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">7. <strong>\u521b\u5efa\u548c\u6784\u5efa\u5de5\u4f5c\u7a7a\u95f4<\/strong><\/h3>\n\n\n\n<p>\u53ef\u4ee5\u521b\u5efa\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\u6765\u7ba1\u7406\u4f60\u7684 ROS 2 \u9879\u76ee\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4\u76ee\u5f55\uff1a<code>mkdir -p ~\/ros2_ws\/src cd ~\/ros2_ws<\/code><\/li>\n\n\n\n<li>\u6784\u5efa\u5de5\u4f5c\u7a7a\u95f4\uff1a<code>colcon build<\/code><\/li>\n\n\n\n<li>\u6bcf\u6b21\u4f7f\u7528\u5de5\u4f5c\u7a7a\u95f4\u524d\uff0c\u8bb0\u5f97\u4f7f\u7528\u547d\u4ee4\u52a0\u8f7d\u73af\u5883\uff1a<code>source ~\/ros2_ws\/install\/setup.bash<\/code><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">\u603b\u7ed3<\/h3>\n\n\n\n<p>\u901a\u8fc7\u4ee5\u4e0a\u6b65\u9aa4\uff0c\u4f60\u5e94\u8be5\u80fd\u5728 Ubuntu 22.04 \u4e0a\u6210\u529f\u5b89\u88c5 <strong>ROS 2 Humble Hawksbill<\/strong>\u3002\u8fd9\u4e2a\u7248\u672c\u6709\u957f\u671f\u652f\u6301\uff08LTS\uff09\uff0c\u9002\u5408\u7528\u4e8e\u751f\u4ea7\u73af\u5883\u548c\u957f\u671f\u5f00\u53d1\u9879\u76ee\u3002\u5982\u679c\u9047\u5230\u4efb\u4f55\u4f9d\u8d56\u6216\u5b89\u88c5\u95ee\u9898\uff0c\u53ef\u4ee5\u67e5\u770b <a>ROS 2 \u5b98\u65b9\u6587\u6863<\/a> \u83b7\u53d6\u66f4\u591a\u8be6\u7ec6\u4fe1\u606f\u3002<\/p>\n\n\n\n<div class=\"wp-block-file\"><a id=\"wp-block-file--media-bc96699e-6aac-4e83-ae86-52023d8941ae\" href=\"https:\/\/www.armfun.cn\/wp-content\/uploads\/2024\/09\/ros.key\">ros.key<\/a><a href=\"https:\/\/www.armfun.cn\/wp-content\/uploads\/2024\/09\/ros.key\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-bc96699e-6aac-4e83-ae86-52023d8941ae\">\u4e0b\u8f7d<\/a><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Humble Hawksbill (LTS, 2022) \u5728 Ubunt&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-264","post","type-post","status-publish","format-standard","hentry","category-8"],"views":3182,"_links":{"self":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/264","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=264"}],"version-history":[{"count":9,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/264\/revisions"}],"predecessor-version":[{"id":274,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=\/wp\/v2\/posts\/264\/revisions\/274"}],"wp:attachment":[{"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=264"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=264"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.armfun.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=264"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}