原文地址
这个放在第二个是因为开发环境安装各种包，你懂的。
1，Make sure that you have a locale set which supports UTF-8
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，setup the development environment
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
2.1 Install GCC, G++ CMake, Python 3 EmPy package (custom packages which don't collide) and setuptools:
udo apt-get update
sudo apt-get install git wget
sudo apt-get install build-essential cppcheck cmake libopencv-dev python-empy python3-dev python3-empy python3-nose python3-pip python3-pyparsing python3-setuptools python3-vcstool python3-yaml libtinyxml-dev libeigen3-dev
sudo apt-get install clang-format pydocstyle pyflakes python3-coverage python3-mock python3-pep8 uncrustify
sudo pip3 install argcomplete
sudo pip3 install flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-cov pytest-runner
sudo apt-get install libasio-dev libtinyxml2-dev
2.2
sudo apt-get install libboost-chrono-dev libboost-date-time-dev libboost-program-options-dev libboost-regex-dev libboost-system-dev libboost-thread-dev
sudo apt-get install libcurl4-openssl-dev libqt5core5a libqt5gui5 libqt5opengl5 libqt5widgets5 libxaw7-dev libgles2-mesa-dev libglu1-mesa-dev qtbase5-dev
3，Get ROS 2.0 code
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
vcs-import src < ros2.repos （这个时间有点长。。。）
4，Install one or more DDS implementations
sudo apt update && sudo apt install curl
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main xenial main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt-get update
sudo apt-get install libopensplice67
5，build
cd ~/ros2_ws/
src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install (已经测试，可以编译，但是需要多试几次。)
6，test
Try some examples
In one terminal, source the setup file and then run atalker:
. ~/ros2_ws/install/local_setup.bash
# . ~/ros2_ws/install_isolated/local_setup.bash # if you built in isolation, use this instead of the above line
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run alistener:
. ~/ros2_ws/install/local_setup.bash
# . ~/ros2_ws/install_isolated/local_setup.bash # if you built in isolation, use this instead of the above line
ros2 run demo_nodes_py listener
You should see thetalkersaying that it'sPublishingmessages and thelistenersayingI heardthose messages.Hooray!
