ROS2入门之开发环境搭建

本文展示的方法是基于docker搭建开发环境，相对于宿主机搭建更加方便快捷，首先需要在宿主机安装docker：https://docs.docker.com/engine/install/ubuntu/

1.拉取镜像

docker pull osrf/ros:humble-desktop-full

2.创建容器

docker run -it -v ~/workspace:/home/sunwenqi/workspace osrf/ros:humble-desktop-full /bin/bash

3.VS Code安装 Docker 与 Remote-Container 插件

4.选中docker->containers，找到刚刚创建的容器，右键弹出如上图的菜单，选择Attach VS Code

左下角的显示即说明我们已经在容器中了，选择打开文件夹，打开刚刚挂载的目录即可开始工作。
5.ROS2初体验
配置环境变量

source /opt/ros/humble/setup.bash

运行demo节点

ros2 run demo_nodes_cpp talker

新建一个终端，依次输入以下指令

source /opt/ros/humble/setup.bash
ros2 topic list
ros2 topic echo /chatter

回车可以看到输出信息

附录：VS Code配置

{"configurations": [{"name": "Linux","includePath": ["${workspaceFolder}/**","/usr/include/**","/opt/ros/humble/include/**"],"defines": [],"compilerPath": "/usr/bin/gcc","cStandard": "c11","cppStandard": "c++17","intelliSenseMode": "linux-gcc-x64"}],"version": 4
}