24.04ubuntu安装ros

在Ubuntu 24.04上安装ROS（Robot Operating System）通常涉及几个步骤，因为ROS依赖于特定的版本和包管理工具。这里是一个简要指南：

1. **更新系统**:

   sudo apt update && sudo apt upgrade

2. **安装必要的依赖**:
- 先安装`apt-transport-https`用于HTTPS包源：

     sudo apt install apt-transport-https ca-certificates curl software-properties-common

3. **添加ROS仓库** (对于Focal Fossa(20.04)及以后版本):

   curl -fsSL https://raw.githubusercontent.com/ros-infrastructure/keyring/master ROS.asc | gpg --dearmor -o /usr/share/keyrings/ros-archive-keyring.gpg
   echo "deb [arch=amd64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2-focal.list

或者 (对于旧版如Bionic Beaver(18.04)):

   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
   echo "deb http://packages.ros.org/ros/ubuntu bionic main" | sudo tee /etc/apt/sources.list.d/ros-latest.list

4. 更新包列表并安装ROS基础套件:

   sudo apt update
   sudo apt install ros-${DISTRO}-ros-base

将`${DISTRO}`替换为你实际的Ubuntu发行版代号，例如`focal`、`noetic`等。

5. 根据需要安装特定的ROS包（例如，如果你要使用ROS Noetic或Melodic，运行相应的命令，如`sudo apt install ros-noetic-desktop-full`）。

6. **启动ROS核心服务**:

   sudo systemctl start roscore

7. **验证安装**:

   ros2 run ros2 node list