1. Installation

1.1 Ubuntu

# ROS 2 GPG key 등록
$ sudo apt update && sudo apt install curl -y
$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# Repository 를 source list 에 추가
$ 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

# ROS 설치
$ sudo apt update
$ sudo apt install ros-foxy-desktop python3-argcomplete
$ sudo apt install ros-dev-tools

.bashrc 추가

# ROS2
source /opt/ros/foxy/setup.bash

Demo: publisher 그리고 listener 를 체크하는 데모.
이게 실행 잘 되면, C++ 그리고 Python API 둘다 잘 작동한다는 의미.


$ source /opt/ros/foxy/setup.bash
$ ros2 run demo_nodes_cpp talker

# 터미널 새로 하나 열고, 다음을 실행
$ source /opt/ros/foxy/setup.bash
$ ros2 run demo_nodes_py listener

1.2 Uninstall on Ubuntu

$ sudo apt remove ~nros-foxy-* && sudo apt autoremove

# 다음 실행해서 삭제
$ sudo rm /etc/apt/sources.list.d/ros2.list
$ sudo apt update
$ sudo apt autoremove