ros2学习

安装Ubuntu2004：

https://mirrors.tuna.tsinghua.edu.cn/ubuntu-releases/20.04/   

安装ros2:

https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html

https://www.guyuehome.com/10226

我安装的步骤如下：

1 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

2 setup sources 
　　sudo apt update && sudo apt install curl gnupg2 lsb-release
　　sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg # 这一步的实质是将ros.key 这个文件的内容输出到ros-archive-keyring.gpg中

　　echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://mirrors.aliyun.com/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3 install ROS 2 packages
　　sudo apt update
　　sudo apt install ros-foxy-desktop


4 configure 
　　echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc  
　　source ~/.bashrc

5 命令行自动补全
ROS 2 命令行工具使用 argcomplete 来实现自动补全。因此，如果要自动补全，则必须安装 argcomplete。
　　sudo apt install python3-argcomplete

6 try example 
6.1 in one terminal: 
　　ros2 run demo_nodes_cpp talker 
6.2 in another terminal: 
　　ros2 run demo_nodes_py listener

基础知识

QoS ：

https://blog.csdn.net/qq_38649880/article/details/105908598