• docker + Ros2 hunble 环境构建

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    # 拉取Ros2 humble docker镜像 
docker pull osrf/ros:humble-desktop-full 
# 运行docker
docker run -it --privilieged \
  --gpus all \
  --name ros2_humble \
  --network host \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v ~/.Xauthority:/root/.Xauthority \
  -e DISPLAY=$DISPLAY \
  -v /home/x/ROS_WS:/home/x/ws \
  osrf/ros:humble-desktop-full

  • 添加环境变量

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echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
  • 验证环境是否搭载成功
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# 检查ros2 turtlesim 是否正确安装
ros2 pkg executables turtlesim
# 启动 turtlesim 此时会弹出一个窗口，窗口内有一只小乌龟
ros2 run turtlesim turtlesim_node
# 新建终端，启动键盘控制小乌龟
ros2 run turtlesim turtle_teleop_key
  • 不采用docker也可以通过鱼香ROS的一键安装命令
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wget http://fishros.com/install -O fishros && . fishros