# 安装教程
### 1. 改密码
```
passwd
```
### 2. 安装中科大的镜像
```
sudo sh -c 'cat > /etc/apt/sources.list << EOF
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
EOF'

```
### 3. 更新apt和下载nano
```
sudo apt update
sudo apt install nano -y

```

### 4. 下载安装ros2
1. 安装脚本
```
nano install_ros2_final.sh

```
2. 将下面内容粘贴进去
```
#!/bin/bash
set -e

echo "====================================="
echo " ROS2 Humble 100% Working Install Script "
echo " For NEW Orange Pi Ubuntu 22.04 "
echo "====================================="

# 1. Clean old ROS2 source (fix GPG error forever)
sudo rm -f /etc/apt/sources.list.d/ros2.list
sudo apt-key del F42ED6FBAB17C654 2>/dev/null || true

# 2. System update
sudo apt update -y
sudo apt upgrade -y

# 3. Language setting (ROS2 required)
sudo apt install -y locales
sudo locale-gen en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# 4. Install tools
sudo apt install -y curl gnupg2 lsb-release software-properties-common

# 5. Add ROS2 official key & source (100% no GPG error)
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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list

# 6. Install ROS2 Desktop Full
sudo apt update -y
sudo apt install -y ros-humble-desktop

# 7. Install dev tools
sudo apt install -y python3-colcon-common-extensions python3-rosdep python3-argcomplete

# 8. Set environment (auto load every terminal)
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source /opt/ros/humble/setup.bash

echo "====================================="
echo " ✅ ROS2 Humble Installed SUCCESSFULLY! "
echo " Open NEW terminal and run: ros2 --version "
echo "=====================================" 
```
3. 保存并退出
4. 增加运行权限
```
chmod +x install_ros2_final.sh

```
5. 运行shell脚本下载
```
./install_ros2_final.sh

```

### 5. 添加ros2到环境里面
```
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

```
### 6. 测试是否成功
```
ros2 run demo_nodes_cpp talker

```