首先感谢鱼香Ros小鱼的帖子https://fishros.org.cn/forum/topic/1295/这里是为了树莓派上编译提示没下载Micro-XRCE-DDS-Agent。安装Ros2humble使用小鱼的连接再次感谢鱼香Ros!:wget http://fishros.com/install -O fishros . fishros安装提示安装hubmle版本的Ros2即可。git相关包sudo apt-get install -y build-essential mkdir -p microros_ws/src这里使用了小鱼的加速应该可以成功git clone http://github.fishros.org/https://github.com/micro-ROS/micro-ROS-Agent.git -b humble git clone http://github.fishros.org/https://github.com/micro-ROS/micro_ros_msgs.git -b humble如果实在不成功使用giteegit clone https://gitee.com/atxwby/micro-ROS-Agent.git -b humble git clone https://gitee.com/atxwby/micro_ros_msgs.git -b humble接下来cd microros_ws colcon build这里不出意外会提示没办法拉取Micro-XRCE-DDS-Agent。替换替换 /microros_ws/src/micro-ROS-Agent/micro_ros_agent/cmake/下的SuperBuild.cmakesudo gedit microros_ws/src/micro-ROS-Agent/micro_ros_agent/cmake/SuperBuild.cmake将如下图所示仓库替换成https://gitee.com/atxwby/Micro-XRCE-DDS-Agent.git最后如下所示重新编译即可使用使用之前需要source install/setup.bash一下为了避免以后每次都手动输入可以写入~/.bashrc环境变量中。ros2 run micro_ros_agent micro_ros_agent serial -b 115200--dev /dev/ttyUSB0 -v