Turtlebot-ROS2入门教程-apt方式安装
说明：
- 介绍apt方式ROS2
步骤：
- 增加 Debian repository库
sudo apt update && sudo apt install curl
curl http://repo.ros2.org/repos.key | sudo apt-key add -
- 增加库到ros源
sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main xenial main" > /etc/apt/sources.list.d/ros2-latest.list'
- 安装ROS2包
sudo apt update
sudo apt install `apt list "ros-ardent-*" 2> /dev/null | grep "/" | awk -F/ '{print $1}' | grep -v -e ros-ardent-ros1-bridge -e ros-ardent-turtlebot2- | tr "n" " "`
- 环境安装
source /opt/ros/ardent/setup.bash
- 安装argcomplete
sudo apt install python3-pip
sudo pip3 install argcomplete
- 获取完整的命令行工具
source /opt/ros/ardent/share/ros2cli/environment/ros2-argcomplete.bash
- 选择 RMW， 默认使用FastRTPS
- 也可以通过环境变量，变更RMW，如：
RMW_IMPLEMENTATION=rmw_opensplice_cpp
- 安装ros1_bridge
sudo apt update
sudo apt install ros-ardent-ros1-bridge ros-ardent-turtlebot2-*
参考：
- https://github.com/ros2/ros2/wiki/Linux-Install-Debians