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→How to install ROS 2 Galactic on Ubuntu20.04
<p>[[File:zero2w-img251.png]]</p>
<p>[[File:zero2w-img252.png]]</p>
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<p>[http://docs.ros.org/ '''http://docs.ros.org''']</p>
<p>'''http://docs.ros.org/en/galactic/Releases.html'''</p>|}</li>
<li><p>The link to the official installation documentation of ROS 2 '''Galactic Geochelone''' is as follows:</p>
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<p>'''docs.ros.org/en/galactic/Installation.html'''</p>
<p>'''http://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html'''</p>|}</li><li><p>In the official installation documentation of ROS 2 '''Galactic Geochelone''', Ubuntu Linux recommends using Ubuntu20.04, so please ensure that the system used by the development board is the '''<span style="color:#FF0000">Ubuntu20.04 desktop system</span>'''. There are several ways to install ROS 2. The following demonstrates how to install ROS 2 '''Galactic Geochelone''' through '''Debian packages'''.</p></li>
<li><p>Use the '''install_ros.sh''' script to install ros2</p>
{| class="wikitable" style="width:800px;" |-| <p>orangepi@orangepi:~$ '''install_ros.sh ros2'''</p>|}</li>
<li><p>The '''install_ros.sh''' script will automatically run the '''ros2 -h''' command after installing ros2. If you can see the following print, it means that the ros2 installation is complete.</p>
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<p>usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...</p>
<p>ros2 is an extensible command-line tool for ROS 2.</p>
<p>optional arguments:</p>
:<p>-h, --help show this help message and exit</p>
<p>Commands:</p>
:<p>action Various action related sub-commands</p>:<p>bag Various rosbag related sub-commands</p>:<p>component Various component related sub-commands</p>:<p>daemon Various daemon related sub-commands</p>:<p>doctor Check ROS setup and other potential issues</p>:<p>interface Show information about ROS interfaces</p>:<p>launch Run a launch file</p>:<p>lifecycle Various lifecycle related sub-commands</p>:<p>multicast Various multicast related sub-commands</p>:<p>node Various node related sub-commands</p>:<p>param Various param related sub-commands</p>:<p>pkg Various package related sub-commands</p>:<p>run Run a package specific executable</p>:<p>security Various security related sub-commands</p>:<p>service Various service related sub-commands</p>:<p>topic Various topic related sub-commands</p>:<p>wtf Use `wtf` as alias to `doctor`</p> :<p>Call `ros2 <command> -h` for more detailed usage.</p>|}</li>
<li><p>Then you can use the '''test_ros.sh''' script to test whether ROS 2 is installed successfully. If you can see the following print, it means ROS 2 can run normally.</p>
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<p>orangepi@orangepi:~$ '''test_ros.sh'''</p>
<p>[INFO] [1671174101.200091527] [talker]: Publishing: 'Hello World: 1'</p>
<p>[INFO] [1671174102.204196299] [listener]: I heard: [Hello World: 2]</p>
<p>[INFO] [1671174103.199580322] [talker]: Publishing: 'Hello World: 3'</p>
<p>[INFO] [1671174103.204019965] [listener]: I heard: [Hello World: 3]</p>|}</li>
<li><p>Run the following command to open rviz2</p>
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<p>orangepi@orangepi:~$ '''source /opt/ros/galactic/setup.bash'''</p>
<p>orangepi@orangepi:~$ '''ros2 run rviz2 rviz2'''</p>
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<p>[[File:zero2w-img253.png]]</p></li>
<li><p>For how to use ROS, please refer to the documentation of ROS 2.</p>
{| class="wikitable" style="width:800px;" |-| <p>[http://docs.ros.org/en/galactic/Tutorials.html '''http://docs.ros.org/en/galactic/Tutorials.html''']</p>|}</li></ol>
<span id="how-to-install-ros-2-humble-on-ubuntu22.04"></span>
=== How to install ROS 2 Humble on Ubuntu22.04 ===
