一、安装ROS2及虚拟仿真平台Gazebo

📌本教程所有代码均可见于：https://github.com/LSQzzx/ROS_learning

📌推荐搭配：

📌Ubuntu Jammy 22.04 + ROS2 Humble + Gazebo Fortress

1.Ubuntu Jammy 22.04

📌在虚拟机中安装Ubuntu时推荐分配50GB硬盘空间，2核CPU+4GB内存

官网：https://cn.ubuntu.com/download/desktop

2.ROS2 Humble

1.配置软件源

sudo apt install software-properties-common net-tools

sudo add-apt-repository universe

sudo apt update && sudo apt install curl -y

sudo wget 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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt update

sudo apt upgrade

2.安装ROS2

sudo apt install ros-humble-desktop

sudo apt install ros-dev-tools

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

source ~/.bashrc

# 检查是否安装成功
which ros2

3.安装Gazebo虚拟仿真平台

sudo apt install ros-humble-gazebo-*

echo "source /usr/share/gazebo/setup.bash" >> ~/.bashrc

echo "export SVGA_VGPU10=0" >> ~/.bashrc

source ~/.bashrc

# 下载gazebo模型
git clone https://github.com/osrf/gazebo_models.git

mv gazebo_models ~/.gazebo/models