1、打开官网: https://index.ros.org/doc/ros2/
2、选择安装 :https://index.ros.org/doc/ros2/Installation/#installationguide
3、选择版本eloquent https://index.ros.org/doc/ros2/Installation/Eloquent/
4、选择Debian packages
https://index.ros.org/doc/ros2/Installation/Eloquent/Linux-Install-Debians/
5、设置语言
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
6、设置安装源
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add –
sudo sh -c ‘echo “deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntulsb_release -csmain” > /etc/apt/sources.list.d/ros2-latest.list’
7、安装ROS2包
sudo apt update
sudo apt install ros-eloquent-desktop
8、设置环境变量（此方法每开一个命令窗口需要执行一遍）
source /opt/ros/eloquent/setup.bash
9、安装argcomplete
sudo apt install python3-argcomplete
10、测试例子
（1）打开一个新的命令窗口，执行发送消息
source /opt/ros/eloquent/setup.bash
ros2 run demo_nodes_cpp talker
（2）打开一个新的命令窗口，执行接收消息
source /opt/ros/eloquent/setup.bash
ros2 run demo_nodes_py listener
11、卸载ROS2
sudo apt remove ros-eloquent-* && sudo apt autoremove
