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!