WSL2 + ROS2 [Setup] 환경 설치

ROS2 공식 홈페이지 설치 과정

- 출처

Ubuntu (Debian) — ROS 2 Documentation: Foxy documentation

Resources

• Status Page:
  • ROS 2 Foxy (Ubuntu Focal): amd64, arm64
• Jenkins Instance
• Repositories

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

sudo apt update && sudo apt install curl
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

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

Setup Sources

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

sudo apt update && sudo apt install curl
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

Install ROS 2 packages

sudo apt update

sudo apt upgrade

sudo apt install ros-foxy-desktop python3-argcomplete

sudo apt install ros-dev-tools

Environment setup

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/foxy/setup.bash

Sourcing the setup script

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/foxy/setup.bash

Try some examples

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

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