添加ros2清华镜像源地址 sudo sh -c 'echo "deb [arch=amd64] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' 获取ROS2公钥 curl http://repo.ros2.org/repos.key | sudo apt-key add - 更新系统 sudo apt-get update 安装ros-foxy sudo apt install ros-foxy-desktop 验证安装的ROS2 ros2 run demo_nodes_cpp talker ros2 run demo_nodes_py listener
