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后更：用的方法已经多到记不清了，但是唯有一点真理！如果安装有问题，先找官网！！解决一大半问题呜呜

上次安装的ROS

还是有问题，测试案例不能正常运行，这次换了教程终于解决了qaq折磨了两周

首先卸载

sudo apt remove ros-foxy-*
sudo apt autoremove

Setup Locale

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

Setup Sources

sudo apt update
sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add - 
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

Install ROS2 Packages

sudo apt update
sudo apt install ros-foxy-desktop

Setup Environment

SHELL是zsh：

source /opt/ros/foxy/setup.zsh
echo "source /opt/ros/foxy/setup.zsh" >> ~/.zshrc 
source ~/.zshrc

如果SHELL是bash就把zsh换成bash。这样每次终端打开时自动加载source /opt/ros/foxy/setup.zsh命令。

其他

sudo apt install python3-argcomplete
sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp

Test Examples

分别打开两个终端：

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener

运行结果：终端通信

大功告成呜呜呜有问题再更新