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install_ros2.md

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Install ROS2

Here's a tutorial showing how to install ROS2 Humble from the command line on a machine running Ubuntu, from the official site. If you'd rather install the Foxy version, you can do so by clicking here.

If you already have a ROS2 installation, you can skip straight to the next step.

Note: All the text shown below is taken directly from this link.

Set locale

Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

locale  # check for UTF-8

sudo apt update && sudo apt install locales
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

locale  # verify settings

Setup Sources

You will need to add the ROS 2 apt repository to your system. First, make sure that the Ubuntu Universe repository is enabled by checking the output of this command.

apt-cache policy | grep universe

This should output a line like the one below:

500 http://us.archive.ubuntu.com/ubuntu jammy/universe amd64 Packages
    release v=22.04,o=Ubuntu,a=jammy,n=jammy,l=Ubuntu,c=universe,b=amd64

If you don’t see an output line like the one above, then enable the Universe repository with these instructions.

sudo apt install software-properties-common
sudo add-apt-repository universe

Now add the ROS 2 apt repository to your system. First authorize our GPG key with apt.

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to your sources list.

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 packages

Update your apt repository caches after setting up the repositories.

sudo apt update

ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-humble-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo apt install ros-humble-ros-base

Environment setup

Set up your environment by sourcing the following file.

source /opt/ros/humble/setup.bash

Installing colcon

sudo apt install python3-colcon-common-extensions

Next step: Install libraries