ROS foxy install

우분투 20.04에서 ROS2 foxy을 설치하는 과정을 코드와 함께 설명합니다.

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

1. 사전 준비

• UTF-8 인코딩 설정

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

• universe 저장소를 추가

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

• 키 세팅

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

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

2. ROS2 foxy 설치

sudo apt update

sudo apt install ros-foxy-desktop

• 개발 도구 및 ROS 도구 설치

sudo apt update && sudo apt install -y \\
  libbullet-dev \\
  python3-pip \\
  python3-pytest-cov \\
  ros-dev-tools

# install some pip packages needed for testing
python3 -m pip install -U \\
  argcomplete \\
  flake8-blind-except \\
  flake8-builtins \\
  flake8-class-newline \\
  flake8-comprehensions \\
  flake8-deprecated \\
  flake8-docstrings \\
  flake8-import-order \\
  flake8-quotes \\
  pytest-repeat \\
  pytest-rerunfailures \\
  pytest
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \\
  libasio-dev \\
  libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \\
  libcunit1-dev

3. 마무리

아래 명령어를 입력하여 설치가 잘 되었는지 확인해보세요.

# Terminal 1
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker

# Terminal 2
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener

---

ROS2 iron 버전 설치

Ubuntu 22.04에서 진행하였습니다.

• UTF-8 인코딩을 사용하도록 설정합니다.

locale

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

• universe 저장소를 추가

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

• 키 설정

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

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

• ros-dev-tools 를 설치합니다.

sudo apt update && sudo apt install ros-dev-tools

• 패키지 목록을 최신 버전으로 바꾸고 업그레이드합니다.

sudo apt update && sudo apt upgrade

• iron을 설치합니다.

sudo apt install ros-iron-deskto

• 파일을 소싱하여 환경을 설정합니다.

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/iron/setup.bash

---

ROS2 Foxy 삭제

sudo apt remove ~nros-foxy-* && sudo apt autoremove

sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade