Ubuntu 20.04에서 ROS2 Foxy 설치

1. Universe 리포지토리를 활성화합니다.

 

sudo apt install -y software-properties-common
sudo add-apt-repository universe

 

 

 

sudo add-apt-repository universe

 

 

 

2. 로케일(UTF-8)를 확인하고 설정합니다.

 

sudo apt update && sudo apt install -y 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

 

 

3. ROS 2 APT key를 등록합니다.

 

sudo apt update && sudo apt install -y curl

 

 

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
  -o /usr/share/keyrings/ros-archive-keyring.gpg

 

 

4. ROS 2 APT 소스를 추가합니다.

 

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 > /dev/null

 

 

5. ROS2 Foxy의 Desktop 버전을 설치하고 개발툴도 설치해야 합니다.

 

sudo apt update
sudo apt upgrade -y

 

 

 

sudo apt install -y ros-foxy-desktop python3-argcomplete ros-dev-tools

 

 

6. 세션을 자동으로 적용하기 위해 환경설정을 해야 합니다.

 

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

 

 

 

7. rosdep를 실행합니다.

 

sudo rosdep init 2>/dev/null || true
rosdep update
mkdir ros2_ws
cd ~/ros2_ws
mkdir src
rosdep install --from-paths src -y --ignore-src

 

 

 

8. 새 터미널 2개에서 동작을 테스트합니다.

 

# 터미널 A
ros2 run demo_nodes_cpp talker
# 터미널 B
ros2 run demo_nodes_py listener