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Installing ROS2 via Debian Packages¶
Table of Contents
Debian packages for ROS 2 Dashing Diademata are available for Ubuntu Bionic.
Resources¶
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Status Page:
Setup Locale¶
Make sure you have a locale which supports UTF-8. If you are in a minimal environment, such as a docker container, the locale may be something minimal like POSIX. We test with the following settings. It should be fine if you’re using a different UTF-8 supported locale.
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
Setup Sources¶
You will need to add the ROS 2 apt repositories to your system. To do so, first authorize our GPG key with apt like this:
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 -
And then add the repository to your sources list:
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
Install ROS 2 packages¶
Update your apt repository caches after setting up the repositories.
sudo apt update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-dashing-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-dashing-ros-base
See specific sections below for how to also install the ros1_bridge, TurtleBot packages, or alternative RMW packages.
Environment setup¶
(optional) Install argcomplete¶
ROS 2 command line tools use argcomplete to autocompletion. So if you want autocompletion, installing argcomplete is necessary.
sudo apt install python3-argcomplete
Sourcing the setup script¶
Set up your environment by sourcing the following file.
source /opt/ros/dashing/setup.bash
You may want to add this to your .bashrc.
echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
Try some examples¶
In one terminal, source the setup file and then run a talker:
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a listener:
ros2 run demo_nodes_py listener
You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. Hooray!
See the demos for other things to try.
Install additional RMW implementations¶
By default the RMW implementation FastRTPS is used. If using Ardent OpenSplice is also installed.
To install support for OpenSplice or RTI Connext on Bouncy:
sudo apt update sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)
By setting the environment variable RMW_IMPLEMENTATION=rmw_opensplice_cpp you can switch to use OpenSplice instead. For ROS 2 releases Bouncy and newer, RMW_IMPLEMENTATION=rmw_connext_cpp can also be selected to use RTI Connext.
If you want to install the Connext DDS-Security plugins please refer to this page.
University, purchase or evaluation options are also available for RTI Connext.
Install additional packages using ROS 1 packages¶
The ros1_bridge as well as the TurtleBot demos are using ROS 1 packages. To be able to install them please start by adding the ROS 1 sources as documented here.
If you’re using Docker for isolation you can start with the image ros:melodic or osrf/ros:melodic-desktop (or Kinetic if using Ardent). This will also avoid the need to setup the ROS sources as they will already be integrated.
Now you can install the remaining packages:
sudo apt update sudo apt install ros-dashing-ros1-bridge
The turtlebot2 packages are not currently available in Dashing.
Build your own packages¶
If you would like to build your own packages, refer to the tutorial "Using Colcon to build packages".
Troubleshooting¶
原文：
https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/
来源：oschina
链接：https://my.oschina.net/itfanr/blog/3142053