由于ROS2還在迭代開發(fā)中，同時借助ROS1中的資源，可以在Ubuntu18.04下安裝ROS-Melodic及ROS2-dashing.

需要注意切換到國內(nèi)的鏡像源，進(jìn)行安裝

安裝ROS-melodic

• 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-melodic-desktop-full
• sudo rosdep init
• rosdep update
• echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
• source ~/.bashrc
• sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

安裝完成后進(jìn)行測試
終端中輸入命令 roscore

安裝ROS2 dashing

• 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
• sudo apt update && sudo apt install curl gnupg2 lsb-release
• curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
• sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu lsb_release -cs main" > /etc/apt/sources.list.d/ros2-latest.list'
• sudo apt update
• sudo apt install ros-dashing-desktop
• sudo apt install python3-argcomplete
• source /opt/ros/dashing/setup.bash
• echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc
• source .bashrc
• sudo apt update
• sudo apt install ros-dashing-ros1-bridge

安裝完成后進(jìn)行測試
終端中輸入命令 ros2 -h

額外安裝

   sudo apt install ros-melodic-robot-upstart 
   sudo apt install ros-melodic-joy
   sudo apt install ros-melodic-ps3joy
   sudo apt install ros-melodic-joystick-drivers 
   sudo apt install ros-melodic-rosbridge-suite

   sudo apt install ssh
   sudo apt install proftpd-basic 
   sudo apt install libudev-dev 
   sudo apt install vim
   sudo apt install net-tools