如何在Ubuntu22.04上面安装完整的ros2 humble还有gazebo fortress

<think>好的，用户想在Ubuntu 22.04上安装ROS 2 Humble和Gazebo Fortress，需要教程。首先，我得确认安装步骤是否正确。根据引用[1]和[2]，安装ROS 2 Humble需要添加ROS仓库和安装核心包。然后Gazebo Fortress可能因为ROS版本的问题需要特别注意，因为引用[3]提到默认安装的可能是Fortress，但需要确保与ROS 2的兼容性。用户之前可能遇到了桥接问题，所以需要正确安装ros_gz_bridge或者ros_ign_bridge。接下来要分步骤整理安装过程，包括设置locale、添加ROS源、安装ROS 2、配置环境，然后安装Gazebo Fortress，可能要从源码或特定仓库安装。最后是安装桥接包和验证安装。需要检查每个步骤的命令是否正确，并提醒用户注意依赖和版本冲突。可能的问题包括Gazebo Fortress是否需要源码编译，以及如何正确配置桥接包。需要确保用户按照正确顺序操作，避免环境变量问题。</think>以下是在Ubuntu 22.04上安装ROS 2 Humble和Gazebo Fortress的完整教程： ### 一、安装ROS 2 Humble 1. **设置locale** ```bash 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 ``` 2. **添加ROS 2仓库** ```bash sudo apt install software-properties-common sudo add-apt-repository universe 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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null ``` 3. **安装核心软件包** ```bash sudo apt update sudo apt install ros-humble-desktop ``` 4. **环境配置** ```bash echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ### 二、安装Gazebo Fortress 1. **添加Gazebo仓库** ```bash sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null ``` 2. **安装Fortress版本** ```bash sudo apt update sudo apt install gazebo-fortress libgz-sim7-dev ``` ### 三、安装桥接工具 ```bash sudo apt install ros-humble-ros-gz-bridge ``` ### 四、验证安装 1. **ROS 2验证** ```bash ros2 doctor ``` 2. **Gazebo验证** ```bash gz sim -v4 ``` 3. **桥接测试** ```bash ros2 run ros_gz_bridge parameter_bridge /model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist ``` 注意：如果遇到Gazebo无响应问题，可能需要安装特定版本的`ros_ign_bridge`[^3]