参考
Ubuntu (Debian packages) — ROS 2 Documentation: Iron documentation
安装
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 install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
（如果上一步不行或者卡住可以本地下载
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O ~/ros.key
sudo cp ~/ros.key /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-iron-desktop ros-iron-ros-base ros-dev-tools
测试
终端一：
source /opt/ros/iron/setup.bash
ros2 run demo_nodes_cpp talker
终端二：
source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener
卸载ROS2
sudo apt remove ~nros-iron-* && sudo apt autoremove
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
sudo apt upgrade