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，建議重復多次

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# 下面這條語句，我的輸出錯誤： gpg: no valid OpenPGP data found，可能你們還會有其他問題 # sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg# 解決上面的問題，可以換成下面這條語句： 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

# 執行更新后，出現問題了 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'

參照 ROS 2 安裝后BUG，解決方法是：

$ cd /etc/apt/sources.list.d $ sudo gedit ros2-latest.list# 打開文本后出現: deb http://packages.ros.org/ros2/ubuntu bionic main# 在deb后插入[arch=amd64]變成: deb [arch=amd64] http://packages.ros.org/ros2/ubuntu bionic main# 保存并關閉# 再次更新即可 sudo apt update

如果更新出現問題，多試幾次

（2）安裝ROS2

推薦安裝ROS2桌面版本（包括ROS、RViz、demos、tutorials）

sudo apt install ros-foxy-desktop

如果出現問題，重復試幾次

4.4 Environment setup

（1）使用腳本來設置

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

以后每次打開終端都需要輸入一次上面的語句，比較麻煩。以 zsh 為例，解決方法：

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

這樣，以后每次新打開終端，就不需要輸入這條語句了 source /opt/ros/foxy/setup.zsh，終端會自動幫你加載這條語句，設置好 ROS2 的環境變量。

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