ubuntu 1604 安装ROS2并测试demo

ROS2官网：

设置本地环境

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

2.设置软件源

sudo apt update && sudo apt install curl gnupg2 lsb-release curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list

3.通过二进制形式安装

sudo apt update sudo apt install ros-dashing-desktop

4.安装一些ROS2开发工具和ros2工具

sudo apt update && sudo apt install -y build-essential cmake git python3-colcon-common-extensions python3-pip python-rosdep python3-vcstool wget # install some pip packages needed for testing python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest pytest-cov pytest-runner setuptools # install Fast-RTPS dependencies sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev # install CycloneDDS dependencies sudo apt install --no-install-recommends -y libcunit1-dev

5.安装自动补全功能包

sudo apt install python3-pip

sudo apt install python3-argcomplete

sudo activate-global-python-argcomplet

6.将环境变量听加到bashrc文件中去

echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc

编写demo包并测试，官方代码连接

cmakelist文件内容如下： （这里我把PROJECT_NAME写错导致了下面的运行错误，没有可执行文件）

cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)

# Default to C99

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)
add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

install(TARGETS
talker
listener
DESTINATION lib/${PROJECT_NAME})

ament_package()