ROS2-foxy 설치

ubuntu 20.04 ver

🏏locale 설정

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

🎯source 설정

sudo apt install software-properties-common
sudo add-apt-repository universe

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

🚨ROS2 Package 설치

sudo apt update && sudo apt upgrade -y
sudo apt install ros-foxy-desktop python3-argcomplete
sudo apt install ros-dev-tools

🎮ROS2-foxy 설치 확인

1. Publisher

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker
[INFO] [1612912263.574031946] [talker]: Publishing: 'Hello World: 1'
[INFO] [1612912264.574010597] [talker]: Publishing: 'Hello World: 2'
[INFO] [1612912265.574381893] [talker]: Publishing: 'Hello World: 3'
[INFO] [1612912266.574508130] [talker]: Publishing: 'Hello World: 4'
[INFO] [1612912267.574615200] [talker]: Publishing: 'Hello World: 5'
[INFO] [1612912268.574767202] [talker]: Publishing: 'Hello World: 6'
[INFO] [1612912269.574953419] [talker]: Publishing: 'Hello World: 7'
...

2. Subscriber

source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener
[INFO] [1612912265.593335793] [listener]: I heard: [Hello World: 3]
[INFO] [1612912266.576514520] [listener]: I heard: [Hello World: 4]
[INFO] [1612912267.576780341] [listener]: I heard: [Hello World: 5]
[INFO] [1612912268.576769156] [listener]: I heard: [Hello World: 6]
[INFO] [1612912269.577142775] [listener]: I heard: [Hello World: 7]
...

터미널1과 터미널2에서 위와같이 동작하면 설치완료

⭐️추가적인 ROS2 개발 툴 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

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

sudo apt install --no-install-recommends -y \
  libasio-dev \
  libtinyxml2-dev \
  libcunit1-dev

gazebo 설치

sudo apt install ros-foxy-gazebo-ros-pkgs

각종 패키지 설치

alias install_all_ros='sudo apt update && \
sudo apt install -y ros-humble-gazebo-ros-pkgs ros-humble-gazebo-ros2-control \
ros-humble-cartographer ros-humble-cartographer-ros \
ros-humble-navigation2 ros-humble-nav2-bringup \
ros-humble-moveit pyqt5-dev-tools && \
python3 -m pip install --upgrade pip && \
python3 -m pip install -U catkin_pkg cryptography empy ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools rosdistro && \
python3 -m pip install -U pydot PyQt5'