ros2는 기본적으로 Ubuntu상을 기준으로 두고 있다. 이에 따라 만일 Ubuntu를 설치하지 않았다면 아래 링크를 통하여 먼저 기본적인 구조를 설치하자
Note* ROS1>1st ROS1설치에 있는 부분을 참고
현재 설치는 Ubuntu 20.04 상에 ROS1 Noetic과 ROS2 foxy를 함께 설치하였다.
아래의 사항들은 ROS2만을 설치하는 코드이다.
(현재 기억이 가물가물해서 약간 틀릴 수 있음)
Installation — ROS 2 Documentation: Foxy documentation
$ locale
LANG=en_US.UTF-8
LANGUAGE=
LC_CTYPE="en_US.UTF-8"
LC_NUMERIC="en_US.UTF-8"
LC_TIME="en_US.UTF-8"
LC_COLLATE="en_US.UTF-8"
LC_MONETARY="en_US.UTF-8"
LC_MESSAGES="en_US.UTF-8"
LC_PAPER="en_US.UTF-8"
LC_NAME="en_US.UTF-8"
LC_ADDRESS="en_US.UTF-8"
LC_TELEPHONE="en_US.UTF-8"
LC_MEASUREMENT="en_US.UTF-8"
LC_IDENTIFICATION="en_US.UTF-8"
LC_ALL=en_US.UTF-8
//이게 나오면 ok
$ sudo apt update && sudo apt install locales
Generation complete.
Processing triggers for man-db (2.9.1-1) ...
//이게 나오면 ok
$ sudo locale-gen en_US en_US.UTF-8
Generation complete.
//이게 나오면 ok
$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
$ export LANG=en_US.UTF-8
$ locale # verify settings
// yujin
LANG=en_US.UTF-8
LANGUAGE=
LC_CTYPE="en_US.UTF-8"
LC_NUMERIC=ko_KR.UTF-8
LC_TIME=ko_KR.UTF-8
LC_COLLATE="en_US.UTF-8"
LC_MONETARY=ko_KR.UTF-8
LC_MESSAGES="en_US.UTF-8"
LC_PAPER=ko_KR.UTF-8
LC_NAME=ko_KR.UTF-8
LC_ADDRESS=ko_KR.UTF-8
LC_TELEPHONE=ko_KR.UTF-8
LC_MEASUREMENT=ko_KR.UTF-8
LC_IDENTIFICATION=ko_KR.UTF-8
//이게 나오면 ok
$ sudo apt install software-properties-common
blabla~~~~~~~
Processing triggers for libglib2.0-0:amd64 (2.64.6-1~ubuntu20.04.6) ...
Processing triggers for man-db (2.9.1-1) ...
//이게 나오면 ok
$ sudo add-apt-repository universe
'universe' distribution component is already enabled for all sources.
//이게 나오면 ok
$ sudo apt update && sudo apt install curl -y
Setting up libcurl4-openssl-dev:amd64 (7.68.0-1ubuntu2.20) ...
Processing triggers for man-db (2.9.1-1) ...
Processing triggers for libc-bin (2.31-0ubuntu9.9) ...
$ 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
$ sudo apt update && sudo apt upgrade
Adding boot menu entry for UEFI Firmware Settings
done
//이게 나오면 ok
$ sudo apt install ros-foxy-desktop python3-argcomplete
blabla~~
Setting up ros-foxy-joy (3.0.1-1focal.20230527.060844) ...
Setting up ros-foxy-teleop-twist-joy (2.4.3-1focal.20230527.061151) ...
Setting up ros-foxy-desktop (0.9.2-1focal.20230606.053518) ...
//이게 나오면 ok
$ sudo apt install ros-foxy-ros-base python3-argcomplete
blabla~~
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
//이게 나오면 ok
$ sudo apt install ros-dev-tools
blabla~~
Setting up ros-dev-tools (1.0.0) ...
Processing triggers for man-db (2.9.1-1) ...
//이게 나오면 ok