1.安装vmware虚拟机

2.添加虚拟机安装Ubuntu系统

3.启动虚拟机

4.安装必要环境变量、组件

 sudo apt update && sudo apt install locales

 sudo locale-gen en_US en_US.UTF-8

 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 

 export LANG=en_US.UTF-8

 sudo apt update && sudo apt install curl gnupg lsb-release 

1.清华大学开源软件镜像站

ros2 | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror

 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 

 echo "deb [arch=(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu (source /etc/os-release && echo UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

 sudo apt update

 sudo apt upgrade

 sudo apt install ros-humble-desktop

 source /opt/ros/humble/setup.bash

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

4.测试

测试1：

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener

测试2:
ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key