ubuntu20.04 docker galactic

### 如何在 Ubuntu 20.04 上安装和配置 Docker 和 ROS 2 Galactic #### 安装 Docker 为了确保Docker能够正常工作，在Ubuntu 20.04上需先更新系统的包索引并安装必要的依赖项[^1]。 ```bash sudo apt-get update sudo apt-get install \ ca-certificates \ curl \ gnupg \ lsb-release ``` 接着，添加Docker官方GPG密钥： ```bash curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg ``` 设置稳定版仓库： ```bash echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null ``` 再次更新APT包索引，并安装最新版本的Docker Engine和其他工具： ```bash sudo apt-get update sudo apt-get install docker-ce docker-ce-cli containerd.io ``` 验证Docker已成功安装: ```bash sudo docker run hello-world ``` #### 配置 Docker 使用非root用户运行容器 创建`docker`组并将当前用户加入其中以便无需每次使用`sudo`即可操作Docker命令： ```bash sudo groupadd docker sudo usermod -aG docker $USER newgrp docker ``` #### 安装 ROS 2 Galactic 对于ROS 2 Galactic的安装，推荐采用Debian包的方式进行快速部署。首先设定环境变量以匹配所需的发行版名称galactic以及操作系统代号focal(对应于Ubuntu 20.04)[^3]: ```bash export ROS_DISTRO=galactic source /opt/ros/$ROS_DISTRO/setup.bash ``` 添加ROS 2软件源到apt-get中去： ```bash sudo apt update && sudo apt install software-properties-common sudo add-apt-repository universe sudo apt update && sudo apt install curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.asc echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.asc] http://packages.ros.org/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2-latest.list ``` 最后一步就是实际安装ROS 2 Galactic桌面全功能套件： ```bash sudo apt update sudo apt upgrade sudo apt install ros-galactic-desktop ``` 完成上述步骤之后，记得通过下面这条指令使新安装的内容生效： ```bash source /opt/ros/galactic/setup.bash ```