ubuntu20.04安装ros2（humble)版本，源码安装

满足gcc 版本 > 7
提前下载源码ros2_humble
以下是官方文档地址，进入后按步骤操作：

https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#

在/etc/hosts下添加

185.199.109.133 raw.githubusercontent.com

修改编码格式：

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

您需要将ROS2 apt存储库添加到您的系统中，确保Ubuntu Universe存储库已启用。

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

现在添加带有apt的ROS 2 GPG密钥：

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

然后将存储库添加到源列表中。

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

20.04版本选择：

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

使用rosdep安装依赖：

sudo apt upgrade

使用魔法（建议换手机热点）

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

最后源码编译：

cd ~/ros2_humble/
colcon build --symlink-install

./bashrc中设置：

echo "ros: noetic(1)  humble(2) ?"
read choose
case $choose in
1) source /opt/ros/noetic/setup.bash;;
2) source /home/ros2_humble/install/setup.bash;;
esac