在22.04安装ros1

以下是在Ubuntu 22.04上安装ROS 1的步骤：

1. 添加ROS仓库密钥:

sudo apt install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

2. 添加ROS软件源:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

3. 更新软件包列表:

sudo apt update

4. 安装ROS Desktop-Full:

sudo apt install ros-noetic-desktop-full

5. 初始化rosdep:

sudo rosdep init
rosdep update

6. 添加ROS环境变量:

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

现在，ROS 1已经安装成功了！你可以通过运行以下命令来验证ROS是否正常工作：

roscore

如果一切正常，你应该会看到ROS主节点启动并打印出类似以下的信息：

... logging to /home/USERNAME/.ros/log/xxxxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx/roslaunch-ubuntu-xxxxx.log
started roslaunch server http://ubuntu:xxxxx/
ros_comm version 1.15.9

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.9

NODES

auto-starting new master
process[master]: started with pid [xxxx]
ROS_MASTER_URI=http://ubuntu:xxxxx/

setting /run_id to xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxx
process[rosout-1]: started with pid [xxxx]
started core service [/rosout]