WSL2 Ubuntu2004 ROS环境配置

WSL2 Ubuntu2004环境配置

WSL2/ubuntu20.04 LTS安装

这个部分网上教程很多，本文不展开介绍。可以参考这篇文章。

ROS环境搭建

换源

1. 保持原始源：sudo cp /etc/apt/sources.list /etc/apt/sources_origin.list

2. 填充新源：sudo vim /etc/apt/sources.list

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

3. 升级&更新：sudo apt update, sudo apt upgrade

注：如果在upgrade时遇到 unmet dependencies 的问题，可以尝试：sudo apt remove ubuntu-advantage-tools

ROS安装

1. 添加ROS包的清华镜像源：

   sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2. 设置秘钥: 需要先安装curl(sudo apt install curl)

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

或者输入现成的秘钥：

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3. 升级&更新：sudo apt update, sudo apt upgrade

4. 安装ROS: sudo apt install ros-noetic-desktop-full

oh-my-zsh环境配置

1. download oh-my-zsh from github: git clone https://github.com/robbyrussell/oh-my-zsh.git ~/.oh-my-zsh

2. copy .zshrc: cp ~/.oh-my-zsh/templates/zshrc.zsh-template ~/.zshrc

3. change your shell: chsh -s /bin/zsh

4. restart wsl2

5. add plugins zsh-syntax-highlighting

git clone https://gitee.com/lightnear/zsh-syntax-highlighting.git $ZSH_CUSTOM/plugins/zsh-syntax-highlighting

6. add plugins zsh-autosuggestions

git clone https://gitee.com/kvdesign/zsh-autosuggestions.git $ZSH_CUSTOM/plugins/zsh-autosuggestions