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1，更新系统并安装依赖

sudo apt update
sudo apt upgrade
sudo apt install curl gnupg2 lsb-release

2，增加ROS2仓库配置

echo "deb [arch=amd64] https://packages.ros.org/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3，导入缺少的公钥

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys F42ED6FBAB17C654

4，更新apt索引

sudo apt update

5，安装ROS2

sudo apt install ros-foxy-desktop

6，将ROS2加载到系统环境变量中

echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
source ~/.bashrc

7，测试

终端1执行：

ros2 run demo_nodes_cpp talker

终端2执行：

ros2 run demo_nodes_cpp listener