【记录ubuntu22 安装ros1 noetic 与 ros2 humble共存】

记录ubuntu22 安装ros1 noetic 与 ros2 humble共存

基础环境介绍

1. qemu环境，目标系统是armv7l的32位系统，无法通过apt源安装上二进制的ros，所以只有编译安装
2. ubuntu22 先安装ros2

预先准备工作

1. 更新系统源

   # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
   
   # 以下安全更新软件源包含了官方源与镜像站配置，如有需要可自行修改注释切换
   deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
   # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
   
   # 预发布软件源，不建议启用
   # deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse
   # # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse
   

   2. 注释ros2源，添加ros1 focal（ubuntu20）的源

      先去添加一个ros1的清华源ros | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror

      选ubuntu20 focal的源/