맥에서 ros2 설치하기

1. conda 설치하기

2. RoboStack 설치

robostack installation

3. 설치확인

conda activate ros_env
rviz2

4. ROS 가상환경 시작시 실행할 스크립트

# activate 시 적용할 스크립트 (ros_env 활성화 후 실행)
cat > $CONDA_PREFIX/etc/conda/activate.d/env_vars.sh << 'EOF'
eval "$(register-python-argcomplete ros2)"
eval "$(register-python-argcomplete colcon)"
export ROS_DOMAIN_ID=13
EOF

# deactivate 시 적용할 스크립트 (선택)
cat > $CONDA_PREFIX/etc/conda/deactivate.d/env_vars.sh << 'EOF'
unset ROS_DOMAIN_ID
EOF

Ubuntu .zshrc

ID=13
alias sz="source ~/.zshrc; echo \"Zshrc is reloaded!\""
alias ros_domain="export ROS_DOMAIN_ID=\$ID"
alias active_venv_jazzy="source ~/venv/jazzy/bin/activate"
alias jazzy="source /opt/ros/jazzy/setup.zsh && ros_domain"
active_venv_jazzy
jazzy
alias killgazebo="killall gzserver gzclient"
eval "$(register-python-argcomplete ros2)"
eval "$(register-python-argcomplete colcon)"
setopt PROMPT_SUBST
ros_domain_prompt() {
  if [[ "$ROS_DOMAIN_ID" != "0" ]]; then
    echo "%F{208}[ID:${ROS_DOMAIN_ID}]%f "
  fi
}
PROMPT='$(ros_domain_prompt)'"$PROMPT"
set_ws()
{
	source "$PWD/install/local_setup.zsh"
}
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