우분투 20.04에서 ROS2를 사용하기 위한 환경 셋팅

우분투 (소스) — ROS 2 문서: Humble documentation

Ubuntu (source) — ROS 2 Documentation: Humble documentation

지역설정

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

셋 소스

sudo apt update && sudo apt install curl gnupg2 lsb-release
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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

 

ROS2 apt 저장소 추가

ubuntu universe  레포지토리 활성화 확인

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

 ROS 2 GPG 키를 추가

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

소스 목록에 리포지토리를 추가합니다

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

 

공통 패키지 설치

sudo apt update && sudo apt install -y \
  python3-flake8-docstrings \
  python3-pip \
  python3-pytest-cov \
  ros-dev-tools

우분투 20.04 용

python3 -m pip install -U \
   flake8-blind-except \
   flake8-builtins \
   flake8-class-newline \
   flake8-comprehensions \
   flake8-deprecated \
   flake8-import-order \
   flake8-quotes \
   "pytest>=5.3" \
   pytest-repeat \
   pytest-rerunfailures

ROS2 코드받기

sudo apt install ros-foxy-desktop

 

작업영역을 만들고 모든 리포지토리 복제

 

mkdir -p ~/ros2_humble/src
cd ~/ros2_humble
vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

ROSDEP을 이용해 종속성설치

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

 

 

마지막으로 설치확인

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

 

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

 

리스너와 토커를 동시에 실행하여 설치여부를 확인할수있다