Noetic

1. 配置Ubuntu软件仓库

2. 设置sources.list

   sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main" > /etc/apt/sources.list.d/ros-latest.list'
   

   这里使用的为清华源，可自行替换合适的软件源。

3. 设置密钥

   sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   

4. 开始安装

   sudo apt update
   sudo apt install ros-noetic-desktop-full
   

5. 设置环境变量

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

6. 安装依赖

   sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
   

7. 初始化 rosdep

   sudo rosdep init
   rosdep update
   

PS：在http://wiki.ros.org/cn/noetic/Installation/Ubuntu中，是没有最后两项的，但是在http://wiki.ros.org/noetic/Installation/Ubuntu中是有的，建议加上这两步。

Foxy

1. 设置语言环境

   locale  # check for UTF-8
   
   sudo 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-8
   
   locale  # verify settings
   

2. 设置软件源

   输入如下命令，下载 ROS 的 GPG Key：

   sudo apt install curl gnupg2
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
   

   再输入如下命令，添加软件仓库，并更新索引：

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
   sudo apt update
   

3. 安装ROS2包

   sudo apt update
   sudo apt install ros-foxy-desktop
   

4. 设置环境变量

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

5. 安装依赖包

   sudo apt install python3-argcomplete ros-foxy-rmw* ros-foxy-ros1-bridge python3-colcon-common-extensions
   

环境变量

使用张瑞雷老师的bash脚本，开启bash时手动选择ROS版本 修改~/.bashrc如下

# ROS 1.0 Noetic or ROS 2.0 Foxy
echo ROS 1.0 or ROS 2.0? 1=Noetic 2=Foxy 
read ROS
if (($ROS==1));then
source /opt/ros/noetic/setup.bash
echo "Noetic"
elif (($ROS==2));then
source /opt/ros/foxy/setup.bash
echo "Foxy"
else
echo "Non-ROS"
fi