269 lines
6.2 KiB
Markdown
269 lines
6.2 KiB
Markdown
---
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title: VMWare安装ROS2
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createTime: 2025/02/24 07:42:27
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permalink: /learning-notes/ROS2/VMWare-install/
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icon: lineicons:vmware
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---
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:::tip
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古月居文档 [https://www.originbot.org/guide/pc_config/#ubuntu_install](https://www.originbot.org/guide/pc_config/#ubuntu_install)
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:::
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虚拟机系统: VMware WorkStation 17.0
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SSH连接工具：MobaXterm Home Edition
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## Ubuntu安装
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::: steps
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1. 下载镜像
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请安装:[logos:ubuntu 2em]: Ubuntu版本: 22.04
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LTS，如果您在高校内，推荐使用CERNET校园网联合镜像站，安装Python3后可以使用以下脚本测试您的网络到各镜像站的连接速度 。
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[重医校园内网（千兆）临时镜像站](http://192.168.183.171:5244/mirrors/system-iso/Ubuntu)
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[阿里云（万兆）开源镜像站](https://mirrors.aliyun.com/ubuntu-releases/)
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```shell
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curl https://mirrors.cernet.edu.cn/oh-my-mirrorz.py | python3
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```
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重庆市高校推荐使用[重庆大学Ubuntu ISO镜像](https://mirrors.cqu.edu.cn/ubuntu-releases/)，实测重医到重大的下载速度可达78MB/S。
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2. 设置软件源
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Ubuntu默认的软件源下载较慢，切换为校园网镜像源或阿里云镜像源会好很多。
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::: tabs
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@tab 重庆大学镜像
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参考 [https://mirrors.cqu.edu.cn/#/wiki/mirror-wiki/ubuntu](https://mirrors.cqu.edu.cn/#/wiki/mirror-wiki/ubuntu)
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@tab 阿里云镜像
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参考 [https://developer.aliyun.com/mirror/ubuntu](https://developer.aliyun.com/mirror/)
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@tab 校园网联合镜像站
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参考 [https://help.mirrors.cernet.edu.cn/ubuntu/](https://help.mirrors.cernet.edu.cn/ubuntu/)
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:::
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### 固定IP地址
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每次VMWare Workstation的虚拟机重启后， DHCP 会自动分配一个新的IP地址，使用SSH连接很不方便，我们可以设置固定IP地址。
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:::warning
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实际VMWare 在NAT模式下分配的子网网段可能会有不同，这里是`192.168.11.0`;
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查看子网：编辑-虚拟网络编辑器-VMnet8-子网IP
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:::
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使用你喜欢的编辑器编辑 `/etc/netplan/01-network-manager-all.yaml`
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```shell
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nano /etc/netplan/01-network-manager-all.yaml
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```
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```yaml
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# Let NetworkManager manage all devices on this system
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network:
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renderer: networkd
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version: 2
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ethernets:
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ens33:
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dhcp4: false
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addresses:
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- 192.168.11.133/24
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routes:
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- to: default
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via: 192.168.11.2
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nameservers:
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addresses: [ 8.8.8.8, 8.8.4.4, 192.168.11.2, 233.5.5.5 ]
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```
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其中：
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- `192.168.11.133`是本地中未被占用的CIDR地址
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- `192.168.11.133`是你想设置的固定地址
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- `192.168.11.0`是VMware WorkStation的NAT模式子网网段，网关设置为同一网段即可转发流量，例如此处的`192.168.11.2`。
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- `233.5.5.5`是阿里云的DNS
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最后输入使配置生效
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```shell
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netplan apply
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```
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持久化网络配置
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```shell
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sudo systemctl enable systemd-networkd
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sudo systemctl start systemd-networkd
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```
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查看ip信息是否符合预期
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```shell
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ifconfig
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```
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### 配置SSH
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以 root 身份登录终端
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:::steps
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1. 安装SSH服务端
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```shell
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sudo apt update
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sudo apt install openssh-server
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```
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2. 启动SSH服务
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```shell
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sudo systemctl start ssh
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sudo systemctl status ssh
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```
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3. 设置开机自启动
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```shell
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sudo systemctl enable ssh
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```
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4. 放行防火墙
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```shell
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sudo ufw allow ssh
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```
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5. 修改SSH配置
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此处启用了root登录、密钥登录，只是为了方便开发，生产环境请谨慎。
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```shell
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sudo nano /etc/ssh/sshd_config
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```
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找到 `PermitRootLogin`, 取消注释并修改为
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```shell
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PermitRootLogin yes
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PubKeyAuthentication yes
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```
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重启以生效
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```shell
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sudo systemctl restart ssh
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```
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6. 连接测试
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打开MobaXterm，sessions-SSH，填入你的主机固定IP和密码等，出现下面画面即为连接成功
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可以使用 `passwd` 临时更改root密码
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7. 生成密钥（可选）
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如果您希望使用SSH密钥进行身份验证，可以在客户端计算机上生成密钥：
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```shell
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ssh-keygen -t rsa -b 4096
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```
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一路回车就行,`.ssh\id_rsa.pub`即为生成的密钥，以 ssh-rsa开头，长这样：
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```shell
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# linux传输key
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ssh-copy-id username@your_server_ip
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```
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Windows系统直接打开MobaXterm，将\{user}\.ssh的`id_rsa.pub`的内容写入到服务器上的 ~/.ssh/authorized_keys文件中，没有就手动创建一个。
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:::
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## ROS2系统安装
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:::warning
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这里以Ubuntu22.04LTS 的Humble ROS2版本为例
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:::
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:::steps
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1. 设置编码
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```shell
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sudo apt update && sudo apt install locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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```
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2. 配置镜像源
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ROS2的软件包在各大高校、企业均有镜像地址，使用镜像可帮助我们更高效下载所需资源。
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重庆市高校推荐重庆大学ROS2软件镜像源。这一步如果存在下载问题，可以参考 [magic](/csdiy/tools-must/magic/clash-core/)
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添加ROS2的GPG Key
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```shell
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sudo apt install curl gnupg2
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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```
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智能选择校园网镜像写入ros2的软件列表
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```shell
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.cernet.edu.cn/ros2/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update
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```
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3. 安装ROS2
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```shell
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sudo apt update
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sudo apt upgrade
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sudo apt install ros-humble-desktop
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```
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4. 设置环境变量
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```shell
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source /opt/ros/humble/setup.bash
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echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc
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```
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5. ROS2示例测试
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当然是我最喜欢的小海龟啦~。需要启动两个终端：
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```shell
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ros2 run turtlesim turtlesim_node
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```
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```shell
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ros2 run turtlesim turtle_teleop_key
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```
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第一句指令将启动一个蓝色背景的海龟仿真器，第二句指令将启动一个键盘控制节点，在该终端中点击键盘上的“上下左右”按键，就可以控制小海龟运动啦。
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关于小海龟中蕴藏的ROS奥义，我们在后续教程中将持续探索。
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至此，恭喜您，ROS2在VMware安装成功。
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::: |