安装教程

1. 改密码

passwd

2. 安装中科大的镜像

sudo sh -c 'cat > /etc/apt/sources.list << EOF
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
EOF'

3. 更新apt和下载nano

sudo apt update
sudo apt install nano -y

4. 下载安装ros2

1. 安装脚本

nano install_ros2_final.sh

2. 将下面内容粘贴进去

#!/bin/bash
set -e

echo "====================================="
echo " ROS2 Humble
echo "====================================="

# 1. 清理旧ROS源
sudo rm -f /etc/apt/sources.list.d/ros2.list
sudo apt-key del F42ED6FBAB17C654 2>/dev/null || true

# 2. 系统更新
sudo apt update -y

# 3. 【核心修复】强制降级 libicu70 并允许降级
sudo apt install -y -f \
  --allow-downgrades \
  libicu70=70.1-2

# 4. 锁定版本防止再次升级
sudo apt-mark hold libicu70

# 5. 语言环境
sudo apt install -y locales
sudo locale-gen en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# 6. 工具依赖
sudo apt install -y curl gnupg2 lsb-release software-properties-common

# 7. 添加ROS2源
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

# 8. 安装ROS2
sudo apt update -y
sudo apt install -y --no-install-recommends ros-humble-desktop

# 9. 开发工具
sudo apt install -y python3-colcon-common-extensions python3-rosdep python3-argcomplete

# 10. 环境变量
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source /opt/ros/humble/setup.bash

echo "====================================="
echo " ✅ ROS2 Humble 安装成功！"
echo " 新开终端输入：ros2 --version"
echo "====================================="

3. 保存并退出
4. 增加运行权限

chmod +x install_ros2_final.sh

5. 运行shell脚本下载

./install_ros2_final.sh

5. 添加ros2到环境里面

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

6. 测试是否成功

ros2 run demo_nodes_cpp talker