【ROS】apt 找不到 ROS版本？（ROS1和ROS2通用方案）

问题描述

安装ROS底层系统时，经常遇到一个情况就是apt找不到ros的对应版本

解决方案

添加ros官方给的apt源和安装密钥

ROS1

# ros奖项
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 获取ROS密钥
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -  

ROS2

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -  #获取ROS密钥
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

现在就可以安装了

比如ROS1的melodic：

sudo apt update
sudo apt install ros-melodic-desktop

比如ROS2的humble

sudo apt-get update
sudo apt-get install ros-humble-desktop

初始化rosdep

sudo rosdep init
rosdep update

设置环境变量

melodic:

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

humble:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

测试安装结果

ROS1测试方法

启动核心节点：

roscore

运行示例 publisher ：

rosrun rospy_tutorials talker.py

运行示例 subscriber

rosrun roscpp_tutorials listener

ROS2测试方法

直接启动publisher和subscriber：

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener