ROS2 安装

Ubuntu 22.04设置编码$ sudo apt update sudo apt install locales $ sudo locale-gen en_US en_US.UTF-8 $ sudo update-locale LC_ALLen_US.UTF-8 LANGen_US.UTF-8 $ export LANGen_US.UTF-8添加源$ sudo apt update sudo apt install curl gnupg 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 $UBUNTU_CODENAME) main | sudo tee /etc/apt/sources.list.d/ros2.list /dev/null安装ros2$ sudo apt update $ sudo apt upgrade $ sudo apt install ros-humble-desktop sudo apt install python3-colcon-common-extensions 通过sudo apt-get install ros-distro-rqt*命令来安装rqt相关的包其中distro是你的ROS发行版名称如humble、galactic等。 sudo apt install -y ros-dev-tools sudo apt update sudo apt install python3-catkin-pkg python3-empy python3-pkg-resources python3-rosdep更新环境变量$ source /opt/ros/humble/setup.bash $ echo source /opt/ros/humble/setup.bash ~/.bashrcWSL2 网络生效查看 Windows 主机 IP在 WSL 中执行ip route例如输出default via 172.28.112.1 dev eth0那么 Windows 主机就是172.28.112.1exporthttp_proxyhttp://172.24.16.1:21882exporthttps_proxyhttp://172.24.16.1:21882exportHTTP_PROXY$http_proxyexportHTTPS_PROXY$https_proxy测试curl https://www.google.comgui不显示:/etc/wsl.conf 里加sudotee-a/etc/wsl.confEOF [general] guiApplicationstrue EOF虚拟机tool安装sudo apt install open-vm-tools open-vm-tools-desktop