1. ros2环境配置（humble）

#配置源
# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y

# 修改域名映射
sudo nano /etc/hosts #199.232.68.133‌‌

#安装ROS2
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 > /dev/null
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 验证安装
ros2 run demo_nodes_py listener 
ros2 run demo_nodes_cpp talker #新终端

2. 机器人底盘（turtlebot3）

# 编译环境
sudo mkdir -p /etc/ros/rosdep/sources.list.d
sudo apt install python3-catkin-pkg python3-rosdep python3-rosinstall-generator python3-wstool python3-rosinstall build-essential
sudo rosdep init
rosdep update
# 安装 turtlebot3
apt install -y ros-humble-turtlebot3 ros-humble-turtlebot3-simulations
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc
# 验证安装 gazebo
ros2 launch turtlebot3_gazebo empty_world.launch.py

详细步骤截图见链接

3. 机械臂（UR）

# 安装 MoveIt! 依赖
sudo apt install ros-humble-moveit ros-humble-tf2-ros ros-humble-moveit-setup-assistant ros-humble-gazebo-ros-pkgs ros-humble-ros2-control
# 安装 UR 官方 ROS2 驱动
sudo apt install ros-humble-ur-robot-driver ros-humble-ur-description ros-humble-ur-moveit-config
# 安装依赖项
sudo apt install python3-colcon-common-extensions build-essential cmake python3-pip git
pip3 install colcon-common-extensions

# 验证 UR5安装 Rviz
ros2 launch ur_robot_driver ur5e.launch.py robot_ip:=192.168.10.233 simulated:=True

# 安装 UR 的 Gazebo仿真
ssh-keygen -t ed25519
ssh -T git@github.com
export COLCON_WS=~/suo/ur_gazebo
mkdir -p $COLCON_WS/src
cd $COLCON_WS/src
git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation.git
rosdep update && rosdep install --ignore-src --from-paths -y
cd $COLCON_WS
colcon build --symlink-install
echo "source ~/suo/ur_gazebo/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 验证 ur5的 gazebo 仿真
ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur5

详细步骤截图见链接Rviz
详细步骤截图见链接Gazebo

4. 虚拟环境

pip install ai2thor
pip install numpy pillow opencv-python keyboard
# 运行测试脚本验证安装 test.py
from ai2thor.controller import Controller
controller = Controller(scene="FloorPlan1")
controller.step(action="MoveAhead")
print("Success!")

详细步骤截图见链接