介绍

本文介绍在 Ubuntu 系统上安装与配置 ROS 环境的完整流程，包括系统编码与软件源检查、ROS2 Foxy 安装、ROS1 与 ROS2 环境切换、编译命令差异及常用终端指令对照。

1. 检查系统设置

1.1 检查编码 UTF-8

终端输入：

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locale

出现如下输出信息说明编码为 UTF-8：

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LANG=zh_CN.UTF-8
LANGUAGE=zh_CN:en_US:en
LC_CTYPE="zh_CN.UTF-8"
LC_NUMERIC=zh_CN.UTF-8
LC_TIME=zh_CN.UTF-8
LC_COLLATE="zh_CN.UTF-8"
LC_MONETARY=zh_CN.UTF-8
LC_MESSAGES="zh_CN.UTF-8"
LC_PAPER="zh_CN.UTF-8"
LC_NAME="zh_CN.UTF-8"
LC_ADDRESS="zh_CN.UTF-8"
LC_TELEPHONE="zh_CN.UTF-8"
LC_MEASUREMENT="zh_CN.UTF-8"
LC_IDENTIFICATION="zh_CN.UTF-8"
LC_ALL=

1.2 检查是否启用 Ubuntu Universe 存储库

终端输入：

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apt-cache policy | grep universe

若输出如下则表示已启用：

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500 http://security.ubuntu.com/ubuntu focal-security/universe i386 Packages
     release v=20.04,o=Ubuntu,a=focal-security,n=focal,l=Ubuntu,c=universe,b=i386
500 http://security.ubuntu.com/ubuntu focal-security/universe amd64 Packages
    release v=20.04,o=Ubuntu,a=focal-security,n=focal,l=Ubuntu,c=universe,b=amd64

若无输出，执行以下命令启用：

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sudo apt install software-properties-common
sudo add-apt-repository universe

1.3 设置软件包签名密钥

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sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

2. 安装

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sudo apt install ros-foxy-desktop

3. 配置环境变量

为方便在 ROS1 和 ROS2 之间切换，可在 ~/.bashrc 中添加以下函数：

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# >>> type in ros to choose which to initialize >>>
ros(){
  echo "ros: noetic(1) foxy(2)?"
  read edition
  if [ "$edition" -eq "1" ];then
    source /opt/ros/noetic/setup.bash

    echo using ROS1 Noetic
  else
    source /opt/ros/foxy/setup.bash

    echo using ROS2 Foxy
  fi
}
# <<< type in ros/ros2 to initialize <<<

根据需要修改工作空间路径，然后执行 source ~/.bashrc 使配置生效。

4. 编译命令差异

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# ROS1
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]...
# catkin_create_pkg test_pkg std_msgs rospy roscpp
catkin_make
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

# ROS2
colcon build
# 只编译指定包
colcon build --packages-select PACKAGE_NAME
# 忽略指定包
colcon build --packages-ignore PACKAGE_NAME
# 遇到编译错误继续编译其他模块
colcon build --continue-on-error

5. 工作空间配置

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source ~/catkin_ws/devel/setup.bash
source ~/colcon_ws/install/setup.bash

6. 终端命令对照

ROS1 命令 ROS2 命令
rosrun ros2 run
rosnode ros2 node
roslaunch ros2 launch
rosparam ros2 param
rospkg ros2 pkg
rosservice ros2 service
rossrv ros2 srv
rostopic ros2 topic
rosaction ros2 action

参考

  • ROS2 官方安装文档：https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
  • ROS Noetic 安装文档：http://wiki.ros.org/noetic/Installation/Ubuntu
  • colcon 编译工具文档：https://colcon.readthedocs.io/