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参考：

https://zhuanlan.zhihu.com/p/702727186

前言：

笔记本安装了ubuntu20.04安装ros一直失败，于是将系统升级为ununut22.04，然后安装ros，根据上面的教程，目前看来是有可能成功的。

系统升级为ununut22.04，pcl可以打开pcd文件，未受影响。

安装humble：

设置编码

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
export LANG=en_US.UTF-8

添加密钥

# 安装下载软件源和密钥的指令
sudo apt update && sudo apt install curl -y
# 设置下载软件源的密钥
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

添加apt源

千万注意，如果你是arm64架构，国内源路径中/ubuntu/，务必改成/ubuntu-ports/，一般大家都默认是x86架构

清华源、阿里源都可以

sudo gedit /etc/apt/sources.list

把下面代码拷贝到sources.list中

deb https://mirrors.aliyun.com/ubuntu-ports/ jammy main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-security main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-updates main restricted universe multiverse# deb https://mirrors.aliyun.com/ubuntu-ports/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-proposed main restricted universe multiversedeb https://mirrors.aliyun.com/ubuntu-ports/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.aliyun.com/ubuntu-ports/ jammy-backports main restricted universe multiverse

安装humble-desktop

sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop

环境变量

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

后记

实际上到这一步完成，就可以打开小乌龟移动了。下面的也没搞明白干啥的。安装起来非常慢。也跟着做了。

安装ROS2包

sudo apt update
# 下面这个命令意思是，所有humble包全部安装，大概4GB，我在网络环境一般的情况下，安装了10个小时（网络真的很一般）
sudo apt install ros-humble-****

小海龟测试

打开一个terminal，输入：ros2 run turtlesim turtlesim_node

再打开一个terminal，输入：ros2 run turtlesim turtle_teleop_key