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install_dep_ddautopilot.sh

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+#!/bin/bash
+
+# ROS Humble 依赖安装脚本
+
+set -e  # 遇到错误立即退出
+
+echo "========================================"
+echo "  开始安装 ROS Humble 依赖包"
+echo "========================================"
+
+# ==================== 系统基础工具 ====================
+echo "[1/3] 安装系统基础工具和库..."
+sudo apt-get update
+
+sudo apt-get install -y \
+    v4l-utils \
+    python3-pip \
+    libpcap-dev \
+    nlohmann-json3-dev \
+    libceres-dev \
+    libompl-dev \
+    libnanoflann-dev \
+    libbenchmark-dev \
+    libgraphicsmagick++-dev \
+    libserialport-dev \
+    libserial-dev
+
+# ==================== ROS Humble 核心包 ====================
+echo "[2/3] 安装 ROS Humble 核心功能包..."
+sudo apt-get install -y \
+    ros-humble-pcl-ros \
+    ros-humble-pcl-conversions \
+    ros-humble-apriltag-ros \
+    ros-humble-can-msgs \
+    ros-humble-geographic-msgs \
+    ros-humble-autoware-msgs \
+    ros-humble-bond \
+    ros-humble-bondcpp \
+    ros-humble-test-msgs \
+    ros-humble-behaviortree-cpp \
+    ros-humble-diagnostic-updater \
+    ros-humble-robot-localization \
+    ros-humble-nmea-msgs \
+    ros-humble-rviz-2d-overlay-msgs
+
+# ==================== Python 依赖 (PyPI) ====================
+echo "[3/3] 安装 Python PyPI 依赖..."
+# 使用清华镜像加速
+pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \
+    'pydantic<2.0' \
+    loguru \
+    paho-mqtt \
+    jsonschema
+
+echo ""
+echo "========================================"
+echo "  所有依赖安装完成！"
+echo "========================================"
+echo ""
+echo "建议执行以下命令验证安装:"
+echo "  ros2 pkg list | grep humble"