ubuntu22 安装ROS 解决公钥问题和源问题

最近在做路径规划的东西，装这个ROS太费劲了，记录一下

#设定环境
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
## 通过检查此命令的输出，确保已启用Ubuntu Universe存储库。
apt-cache policy | grep universe

修改Host文件

199.232.68.133 raw.githubusercontent.com
199.232.68.133 user-images.githubusercontent.com
199.232.68.133 avatars2.githubusercontent.com
199.232.68.133 avatars1.githubusercontent.com

添加公钥

# ROS1
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# ROS2
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

添加源

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
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

更新

sudo apt update
sudo apt upgrade

安装ROS2

sudo apt install ros-humble-desktop