ubuntu22.04安装ros2 ros2-px4

安装ROS2：

1. 添加ROS2软件源

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list'

2. 安装ROS2

sudo apt update
sudo apt install ros-foxy-desktop

3. 设置ROS2环境

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

安装ROS2-PX4：

1. 安装依赖

sudo apt install python3-rosdep python3-colcon-common-extensions python3-rosinstall-generator

2. 初始化rosdep

sudo rosdep init
rosdep update

3. 创建工作空间

mkdir -p ~/px4_ros2_ws/src
cd ~/px4_ros2_ws/src

4. 下载PX4-Firmware

git clone https://github.com/PX4/PX4-Autopilot.git --branch v1.12.3 --single-branch

5. 下载PX4-ROS2

git clone https://github.com/PX4/px4_ros_com.git --branch v0.1.0 --single-branch

6. 安装依赖

cd px4_ros_com/scripts
./install_ros2.bash

7. 构建

cd ~/px4_ros2_ws
colcon build --symlink-install --packages-select px4_msgs px4_ros_com

8. 设置ROS2环境

echo "source ~/px4_ros2_ws/install/local_setup.bash" >> ~/.bashrc
source ~/.bashrc

9. 运行示例

ros2 launch px4_ros_com px4_bridge_launch.py