Ubuntu22.04下ROS2 humble与ROS1 noetic共存安装指南

cd ~/ros_catkin_ws
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

10. 配置环境变量

为方便在 ROS1 和 ROS2 之间切换，需配置环境变量。打开用户主目录下的 .bashrc 文件，在末尾添加以下代码：

echo "ros noetic(1) or ros2 humble(2)?"
read edition

# 清除所有 ROS 相关环境变量
function clean_ros_env() {
    # 清除标准 ROS 变量
    unset ROS_DISTRO ROS_VERSION ROS_PACKAGE_PATH ROS_ETC_DIR
    unset ROS_MASTER_URI ROS_HOSTNAME ROS_IP
    
    # 清除 ROS2 特有变量
    unset ROS_DOMAIN_ID RMW_IMPLEMENTATION AMENT_PREFIX_PATH
    unset COLCON_PREFIX_PATH ROS_LOCALHOST_ONLY
    
    # 清除 CMAKE 相关变量
    unset CMAKE_PREFIX_PATH
    
    # 重置 PYTHONPATH
    export PYTHONPATH=$(echo $PYTHONPATH | tr ':' '\n' | grep -v '/opt/ros' | grep -v '/home/bg/ros_catkin_ws' | paste -sd: -)
    
    # 重置 PATH
    export PATH=$(echo $PATH | tr ':' '\n' | grep -v '/opt/ros' | grep -v '/home/bg/ros_catkin_ws' | grep -v '/opt/ros/humble' | paste -sd: -)
    
    # 重置 LD_LIBRARY_PATH
    export LD_LIBRARY_PATH=$(echo $LD_LIBRARY_PATH | tr ':' '\n' | grep -v '/opt/ros' | grep -v '/home/bg/ros_catkin_ws' | paste -sd: -)
}

# 清理环境
clean_ros_env

# 根据选择加载环境
if [ "$edition" -eq "1" ]; then
    echo "Loading ROS Noetic environment"
    source ~/ros_catkin_ws/install_isolated/setup.bash
    export ROS_MASTER_URI=http://localhost:11311
    export ROS_HOSTNAME=localhost
else
    echo "Loading ROS2 Humble environment"
    source /opt/ros/humble/setup.bash
    export ROS_DOMAIN_ID=42
    export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
fi

11. 测试环境

分别使用命令启动 ros1 和 ros2 的 rviz，运行正常。

注意事项

千万不要下载 python3.8，否则会出现各种 bug。