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安装 ROS2 HUMBLE

系统要求​

  • Debian 12 BookWorm

设置语言环境​

echo -e "export LC_ALL=en_US.UTF-8\nexport LANG=en_US.UTF-8\n" >> $HOME/.bashrc
source $HOME/.bashrc

安装所需要的工具​

sudo apt-get update && sudo apt-get full-upgrade

sudo apt-get install -y \
    python3-flake8-blind-except \
    python3-flake8-class-newline \
    python3-flake8-deprecated \
    python3-mypy \
    python3-pip \
    python3-pytest \
    python3-pytest-cov \
    python3-pytest-mock \
    python3-pytest-repeat \
    python3-pytest-rerunfailures \
    python3-pytest-runner \
    python3-pytest-timeout \
    python3-rosdep2 \
    python3-colcon-core \
    vcstool \
    build-essential

容量​

  • 确保工作区至少有 15 GB 的可用空间，以用于编译源码。

编译​

  • 创建工作目录
mkdir -p ros2_humble/src
cd ros2_humble
  • 获取源码
wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
vcs import src < ros2.repos
  • 安装依赖
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers python3-vcstool"
  • 编译源码
colcon build --symlink-install

使用方法​

  • 设置环境
echo -e "source ${path_to_ros2_source}/ros2_humble/install/setup.bash" >> $HOME/.bashrc
source $HOME/.bashrc
提示

这个 path_to_ros2_source 是 ros2_humble 目录所在的位置

  • 示例
  1. 打开一个终端， 运行 c++ talker 示例
ros2 run demo_nodes_cpp talker
  1. 打开另外一个终端，运行 python listener 示例
ros2 run demo_nodes_py listener
  1. 验证

执行完，这两条命令后，您应该会看到 talker 端的消息：

ros2 run demo_nodes_cpp talker
[INFO] [1728966840.691346935] [talker]: Publishing: 'Hello World: 1'
[INFO] [1728966841.691537928] [talker]: Publishing: 'Hello World: 2'
[INFO] [1728966842.691572879] [talker]: Publishing: 'Hello World: 3'
[INFO] [1728966843.691563207] [talker]: Publishing: 'Hello World: 4'
[INFO] [1728966844.691568120] [talker]: Publishing: 'Hello World: 5'

和 listener 端的消息：

ros2 run demo_nodes_py listener
[INFO] [1728966840.716456921] [listener]: I heard: [Hello World: 1]
[INFO] [1728966841.698002748] [listener]: I heard: [Hello World: 2]
[INFO] [1728966842.697675740] [listener]: I heard: [Hello World: 3]
[INFO] [1728966843.697643318] [listener]: I heard: [Hello World: 4]
[INFO] [1728966844.697551980] [listener]: I heard: [Hello World: 5]

这可验证 C++ 和 Python API 均正常运行。