基本环境安装1、打开shell窗口sudo apt update sudo apt install localessudo locale-gen en_US en_US.UTF-8sudo update-locale LC_ALLen_US.UTF-8 LANGen_US.UTF-8export LANGen_US.UTF-8locale # verify settings2、设置源sudo apt install software-properties-commonsudo add-apt-repository universesudo apt update sudo apt install curl -ysudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpgecho “deb [arch$(dpkg --print-architecture) signed-by/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release echo $UBUNTU_CODENAME) main” | sudo tee /etc/apt/sources.list.d/ros2.list /dev/null3、安装ROS2sudo apt updatesudo apt upgradesudo apt install ros-humble-desktop4、安装dev工具sudo apt install ros-dev-toolsRos2_control安装1、source Ros2资源source /opt/ros/humble/setup.bash2、创建ROS2_control工作空间mkdir -p ~/ros2_control_ws/srccd ~/ros2_control_ws/wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/ros_controls.ROSDISTRO.reposvcsimportsrcroscontrols.ROS_DISTRO.repos vcs import src ros_controls.ROSD​ISTRO.reposvcsimportsrcrosc​ontrols.ROS_DISTRO.repos3、安装依赖包rosdep update --rosdistro$ROS_DISTROsudo apt-get updaterosdep install --from-paths src --ignore-src -r -y4、编译ROS2_control. /opt/ros/${ROS_DISTRO}/setup.shcolcon build --symlink-install5.相关报错彻底解决 NO_PUBKEY 报错sudo rm /etc/apt/sources.list.d/ros2.listecho “deb [arch$(dpkg --print-architecture) trustedyes] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main” | sudo tee /etc/apt/sources.list.d/ros2.list /dev/nullsudo apt updatesudo apt install ros-humble-ros2-control ros-humble-ros2-controllers -y