ROS2 安装

版本

目前官方推荐的 ROS 2 版本与 Ubuntu 版本是严格对应的，不同 ROS 2 发行版只支持特定的 Ubuntu 版本。

Reachy Mini 官方 GitHub 上的 reachy2_emotions、reachy-sdk 以及仿真环境示例，大多是基于 ROS 2 Humble + Ubuntu 22.04 进行开发的。

安装ROS2

添加源

$ echo "deb [arch=$(dpkg --print-architecture)] https://repo.huaweicloud.com/ros2/ubuntu/ $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

添加源对应的秘钥

$ sudo apt install curl gnupg2 -y
$ curl -s https://gitee.com/ohhuo/rosdistro/raw/master/ros.asc | sudo apt-key add -
Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)).
OK

更新

$ sudo apt update

安装ROS2

$ sudo apt install ros-humble-desktop

配置环境变量

$ ros2
ros2: command not found
$ source /opt/ros/humble/setup.bash
$ ros2
usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

options:
  -h, --help            show this help message and exit
  --use-python-default-buffering
                        Do not force line buffering in stdout and instead use the python default buffering, which might be affected by PYTHONUNBUFFERED/-u
                        and depends on whatever stdout is interactive or not

Commands:
  action     Various action related sub-commands
  bag        Various rosbag related sub-commands
  component  Various component related sub-commands
  daemon     Various daemon related sub-commands
  doctor     Check ROS setup and other potential issues
  interface  Show information about ROS interfaces
  launch     Run a launch file
  lifecycle  Various lifecycle related sub-commands
  multicast  Various multicast related sub-commands
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  security   Various security related sub-commands
  service    Various service related sub-commands
  topic      Various topic related sub-commands
  wtf        Use `wtf` as alias to `doctor`

  Call `ros2 <command> -h` for more detailed usage.

ros2加入bashrc

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

ROS2 安装目录

$ cd /opt/ros/humble/
robot@robot-VirtualBox:/opt/ros/humble$ ls
bin    include  local             local_setup.sh        local_setup.zsh  setup.bash  setup.zsh  src
cmake  lib      local_setup.bash  _local_setup_util.py  opt              setup.sh    share      tools

测试ROS2

Listener & Talker

启动Listener

下面的日志只有在Talker启动之后才会有

$ ros2 run demo_nodes_py listener
[INFO] [1754626218.811253482] [listener]: I heard: [Hello World: 1]
[INFO] [1754626219.785175049] [listener]: I heard: [Hello World: 2]
[INFO] [1754626220.783907744] [listener]: I heard: [Hello World: 3]
[INFO] [1754626221.783766487] [listener]: I heard: [Hello World: 4]
[INFO] [1754626222.783233217] [listener]: I heard: [Hello World: 5]
[INFO] [1754626223.783616866] [listener]: I heard: [Hello World: 6]
[INFO] [1754626224.784847427] [listener]: I heard: [Hello World: 7]
[INFO] [1754626225.783966946] [listener]: I heard: [Hello World: 8]
[INFO] [1754626226.783729145] [listener]: I heard: [Hello World: 9]

启动Talker

另起一个终端

$ ros2 run demo_nodes_cpp talker
[INFO] [1754626218.783679400] [talker]: Publishing: 'Hello World: 1'
[INFO] [1754626219.781620882] [talker]: Publishing: 'Hello World: 2'
[INFO] [1754626220.781182900] [talker]: Publishing: 'Hello World: 3'
[INFO] [1754626221.781479093] [talker]: Publishing: 'Hello World: 4'
[INFO] [1754626222.780757923] [talker]: Publishing: 'Hello World: 5'
[INFO] [1754626223.780789074] [talker]: Publishing: 'Hello World: 6'

涂鸦乌龟

启动海龟模拟器

$ ros2 run turtlesim turtlesim_node

启动海龟遥控器

$ ros2 run turtlesim turtle_teleop_key
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.
'Q' to quit.