# 4 安装 ROS2

以下步骤指导如何在 ubuntu 22.04 中安装 ROS2，按顺序输入即可。

```bash
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

sudo curl -sSL http://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 update

sudo apt upgrade

sudo apt install ros-humble-desktop

# 借用小乌龟来验证是否成功
source /opt/ros/humble/setup.bash
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

# 安装colcon
sudo apt-get install python3-colcon-common-extension
```