설치

참고 - (https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html#set-locale)

Ubuntu Linux 20.04 기준

Set Locale

$ 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

Set Sources

$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ sudo curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

Add the Ros2 apt repository to your sysmtem

$ 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

Install ROS2 Packages

$ sudo apt update
$ sudo apt install ros-foxy-desktop

Install argcomplete (optional)

$ sudo apt install -y python3-pip
$ pip3 install -U argcomplete

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설치 확인

아래 코드를 실행하여 성공적으로 출력이 된다면 설치 완료된 것

Talker

$ source /opt/ros/foxy/setup.bash
$ ros2 run demo_nodes_cpp talker

Listener

$ source /opt/ros/foxy/setup.bash
$ ros2 run demo_nodes_py listener

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ROS 개발 tools 설치

$ sudo apt update && sudo apt install -y \
    build-essential \
    cmake \
    git \
    libbullet-dev \
    python3-colcon-common-extensions \
    python3-flake8 \
    python3-pip \
    python3-pytest-cov \
    python3-rosdep \
    python3-setuptools \
    python3-vcstool \
    wget
  
# install some pip packages needed for testing

$ python3 -m pip install -U \
    argcomplete \
    flake8-blind-except \
    flake8-builtins \
    flake8-class-newline \
    flake8-comprehensions \
    flake8-deprecated \
    flake8-docstrings \
    flake8-import-order \
    flake8-quotes \
    pytest-repeat \
    pytest-rerunfailures \
    pytest
  
# install Fast-RTPS dependencies

$ sudo apt install --no-install-recommends -y \
    libasio-dev \
    libtinyxml2-dev

# install Cyclone DDS dependencies

$ sudo apt install --no-install-recommends -y \
  	libcunit1-dev

ROS2 명령어의 자동 완성 기능을 사용하기 위해서 아래 명령어를 설치해주어야 한다 (option)

$ sudo apt install -y python3-argcomplete

---

ROS2 환경 설정 및 단축키 관리

Source file 실행

ROS2 사용을 위해 아래 명령어를 터미널 창에 입력해주어야 한다

$ source /opt/ros/foxy/setup.bash

매번 실행시키기 귀찮으니 Shell Script 파일에 Source file 실행 명령어를 추가

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

Shell Script 파일에 colcon_cd 추가

$ echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
$ echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc

Run Commands 설정

$ nano ~/.bashrc


// bashrc 파일 맨 끝에 alias 지정해줌

alias ccd='colcon_cd'

alias cb='cd ~/baqu_ws(본인 워크스페이스) && colcon build --symlink-install'
alias cba='colcon build --symlink-install'
alias cbp='colcon build --symlink-install --packages-select'
alias cbu='colcon build --symlink-install --packages-up-to'

alias rt='ros2 topic list'
alias re='ros2 topid echo'
alias rn='ros2 node list'

삭제

참고 - (https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html#uninstall)

sudo apt remove ~nros-foxy-* && sudo apt autoremove

관련 레포지터리 삭제

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade