ros2 humble 安装 ros2 run rplidar_ros rplidar_composition

以下是ros2 humble安装和rplidar_ros的演示：
1. 安装ROS2 humble系统

# 一键安装ROS2 humble系统
选择==> 一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
选择==> 更换系统源再继续安装
选择==> humble系统
选择==> humble系统桌面版

2. 克隆cartographer和cartographer_ros源码

# 创建工作空间
mkdir -p carto_ws/src && cd carto_ws/src

# 克隆代码
git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b ros2
git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b ros2

3. 安装依赖并编译

# 安装依赖
cd ~/carto_ws
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

# 编译
colcon build --packages-up-to cartographer_ros

4. 验证是否成功

source install/setup.bash
ros2 pkg list | grep cartographer

5. 运行rplidar_ros

ros2 run rplidar_ros rplidar_composition