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Create Docker & exec
docker run -itd --rm --name ros2_test ubuntu20.04 /bin/bash
- 접속
docker exec -it ros2_test bash
Add User & exec user
adduser testuser
- sudo 설치 및 권한 부여
apt install sudo
usermod -aG sudo testuser
- exec user
su - testuser
Install ROS2 galactic
- Document
https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
- 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 source
- check ubuntu universe repository
apt-cache policy | grep universe # return 500 <http://security.ubuntu.com/ubuntu> focal-security/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal-security,n=focal,l=Ubuntu,c=universe,b=amd64 100 <http://archive.ubuntu.com/ubuntu> focal-backports/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal-backports,n=focal,l=Ubuntu,c=universe,b=amd64 500 <http://archive.ubuntu.com/ubuntu> focal-updates/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal-updates,n=focal,l=Ubuntu,c=universe,b=amd64 500 <http://archive.ubuntu.com/ubuntu> focal/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64
- enable universe repository
sudo apt-get install -y software-properties-common
sudo add-apt-repository universe
- add ros2 apt repository
sudo apt-get update && sudo apt-get install -y curl gnupg lsb-release
sudo curl -sSL <https://raw.githubusercontent.com/ros/rosdistro/master/ros.key> -o /usr/share/keyrings/ros-archive-keyring.gpg
- add deb source
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] <http://packages.ros.org/ros2/ubuntu> $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
- Install Ros2 Package
sudo apt update
sudo apt install ros-galactic-desktop
# or
sudo apt update
sudo apt install ros-galactic-ros-base
sudo apt install ros-dev-tools
- sourcing setting script
source /opt/ros/galactic/setup.bash
- test
1 terminal
source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker
2 termianl
source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_py listener
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