ROS2简介与Ubuntu24.04中安装指南

• 之前安装了一个版本，但是不愿意写blog，现在想想自己就是个沙子
• 立个flag，每次配置项目，写流程blog

ROS简介

ROS（Robot Operating System）是一个开源的机器人软件平台，提供了许多工具和库来帮助开发机器人应用。ROS的不同版本有不同的命名和发布策略，其中“Jazzy”和“Rolling”是两个不同的版本。

1. Path2(成功)-deb

   按照.deb文档安装，
   流程概述：添加软件源之后

   sudo apt install ros-rolling-desktop
   

   测试，完结撒花💐

   source /opt/ros/rolling/setup.sh
   ros2 run demo_nodes_cpp talker
   

   激活命令

   source /opt/ros/rolling/setup.sh
   

   source /opt/ros/rolling/setup.sh 是在ROS系统中用来设置环境变量的脚本。该脚本会将ROS的主要路径和其他必要路径添加到系统的环境变量中，以便正确地运行ROS命令和程序。

   具体来说，该脚本会将以下路径添加到环境变量中：

   • /opt/ros/rolling/: ROS安装目录，包括核心包和工具。
   • /opt/ros/rolling/setup.bash: ROS的设置脚本。
   • /opt/ros/rolling/share: ROS包的共享目录。
   • /opt/ros/rolling/bin: ROS命令和工具的可执行文件目录。

   通过运行这个脚本，可以为当前终端会话设置正确的ROS环境，以便使用ROS系统。

   Question

   1. ubuntu如何apt搜索软件包的某个版本?
   • 按关键字查询

   sudo apt search ros-rolling
   

   
   2. 如何修改apt search，只返回软件名中出现关键字的条目，不返回描述中出现关键字的条目

   • 采用正则表达式+grep

   sudo apt search ros | grep "^ros"
   

   1. 实用技巧——ubuntu执行前一条指令

   sudo !!
   

   Path1-binary

   • 直接执行

   rosdep update
   

   报错如下：

   reading in sources list data from /etc/ros/rosdep/sources.list.d
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
   ERROR: error loading sources list:
   	The read operation timed out
   

   开启global魔法，赋能终端，retry，make it~

   reading in sources list data from /etc/ros/rosdep/sources.list.d
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
   Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
   Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
   Skip end-of-life distro "ardent"
   Skip end-of-life distro "bouncy"
   Skip end-of-life distro "crystal"
   Skip end-of-life distro "dashing"
   Skip end-of-life distro "eloquent"
   Skip end-of-life distro "foxy"
   Skip end-of-life distro "galactic"
   Skip end-of-life distro "groovy"
   Add distro "humble"
   Skip end-of-life distro "hydro"
   Skip end-of-life distro "indigo"
   Add distro "iron"
   Skip end-of-life distro "jade"
   Add distro "jazzy"
   Skip end-of-life distro "kinetic"
   Skip end-of-life distro "lunar"
   Skip end-of-life distro "melodic"
   Add distro "noetic"
   ERROR: error loading sources list:
   	The read operation timed out (https://raw.githubusercontent.com/ros/rosdistro/master/noetic/distribution.yaml)