Installing ROS 2 on Ubuntu20.04 Linux

1. Binary packages

We provide ROS 2 binary packages for the following platforms:

Ubuntu Linux - Focal Fossa (20.04)
- Debian packages
- “fat” archive
macOS
Windows

2. Building from source

We support building ROS 2 from source on the following platforms:

Ubuntu Linux
macOS
Windows

3. System requirements

The current Debian-based target platforms for Foxy Fitzroy are:

Tier 1: Ubuntu Linux - Focal Fossa (20.04) 64-bit
Tier 3: Debian Linux - Buster (10) 64-bit

Other Linux platforms with varying support levels include:

Arch Linux, see alternate instructions
Fedora Linux, see alternate instructions
OpenEmbedded / webOS OSE, see alternate instructions

4. System setup

4.1 Set 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. However, it should be fine if you’re using a different UTF-8 supported locale.

locale  # check for UTF-8sudo apt update && sudo apt install locales
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-8locale  # verify settings

一次不成功，建议重复多次

4.2 Add the ROS 2 apt repository

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# 下面这条语句，我的输出错误： gpg: no valid OpenPGP data found，可能你们还会有其他问题
# sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg# 解决上面的问题，可以换成下面这条语句：
curl http://repo.ros2.org/repos.key | sudo apt-key add -

And then add the repository to your sources list:

# 我添加的源echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null# 官方源
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

4.3 Install ROS 2 packages

（1）更新源

# 执行更新后，出现问题了
sudo apt updateN: Skipping acquire of configured file 'main/binary-i386/Packages' as repository 'http://packages.ros.org/ros2/ubuntu focal InRelease' doesn't support architecture 'i386'

参照 ROS 2 安装后BUG，解决方法是：

$ cd /etc/apt/sources.list.d
$ sudo gedit ros2-latest.list# 打开文本后出现:
deb http://packages.ros.org/ros2/ubuntu bionic main# 在deb后插入[arch=amd64]变成:
deb [arch=amd64] http://packages.ros.org/ros2/ubuntu bionic main# 保存并关闭# 再次更新即可
sudo apt update

如果更新出现问题，多试几次

（2）安装ROS2

推荐安装ROS2桌面版本（包括ROS、RViz、demos、tutorials）

sudo apt install ros-foxy-desktop

如果出现问题，重复试几次

4.4 Environment setup

（1）使用脚本来设置

如果你的 SHELL 是用 bash，就是：

source /opt/ros/foxy/setup.bash

如果你的 SHELL 是用 zsh 的，就是：

source /opt/ros/foxy/setup.zsh

以后每次打开终端都需要输入一次上面的语句，比较麻烦。以 zsh 为例，解决方法：

echo "source /opt/ros/foxy/setup.zsh" >> ~/.zshrc
source ~/.zshrc

这样，以后每次新打开终端，就不需要输入这条语句了 source /opt/ros/foxy/setup.zsh，终端会自动帮你加载这条语句，设置好 ROS2 的环境变量。