Ubuntu20.04 ros1 ros2 ros1_bridge安装

最新推荐文章于 2026-03-04 00:49:00 发布

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最新推荐文章于 2026-03-04 00:49:00 发布 · 728 阅读

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#ROS

安装 ROS1 (Noetic)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-desktop-full

安装 ROS2 (Foxy)
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
sudo apt update
sudo apt install ros-foxy-desktop

安装 ros1_bridge
新建目录(对应ros2的版本，对应下载的 bridge 版本, -b + 版本分支 )
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b foxy https://githu