Ubuntu (binary)

This page explains how to install ROS 2 on Ubuntu Linux from a pre-built binary package.

Note

The pre-built binary does not include all ROS 2 packages. All packages in the ROS base variant are included, and only a subset of packages in the ROS desktop variant are included. The exact list of packages are described by the repositories listed in this ros2.repos file.

There are also deb packages available.

System Requirements

We currently support Ubuntu Linux Jammy (22.04) 64-bit x86 and 64-bit ARM.

Add the ROS 2 apt repository

你需要将 ROS 2 apt 仓库添加到你的系统中。

首先确保 Ubuntu Universe 仓库 已启用。

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

然后使用 apt 添加 ROS 2 GPG 密钥。

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

然后将仓库添加到你的源列表中。

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

Downloading ROS 2

  • Go to the releases page

  • Download the latest package for Ubuntu; let’s assume that it ends up at ~/Downloads/ros2-package-linux-x86_64.tar.bz2.

    • Note: there may be more than one binary download option which might cause the file name to differ.

  • Unpack it:

    mkdir -p ~/ros2_humble
cd ~/ros2_humble
tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2

Installing and initializing rosdep

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update

Installing the missing dependencies

ROS 2 包是在经常更新的 Ubuntu 系统上构建的。 在安装新包之前，建议您确保系统是最新的。

sudo apt upgrade

Set your rosdistro according to the release you downloaded.

rosdep install --from-paths ~/ros2_humble/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers"

Note: If you’re using a distribution that is based on Ubuntu (like Linux Mint) but does not identify itself as such, you’ll get an error message like Unsupported OS [mint]. In this case append --os=ubuntu:jammy to the above command.

Install development tools (optional)

If you are going to build ROS packages or otherwise do development, you can also install the development tools:

sudo apt install ros-dev-tools

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, you can find instructions here.

Environment setup

Source the setup script

Set up your environment by sourcing the following file.

 # Replace ".bash" with your shell if you're not using bash
 # Possible values are: setup.bash, setup.sh, setup.zsh
. ~/ros2_humble/ros2-linux/setup.bash

Try some examples

In one terminal, source the setup file and then run a C++ talker:

. ~/ros2_humble/ros2-linux/setup.bash
ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

. ~/ros2_humble/ros2-linux/setup.bash
ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

Next steps after installing

Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.

Using the ROS 1 bridge

The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the dedicated documentation on how to build and use the ROS 1 bridge.

Additional RMW implementations (optional)

The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW) can be replaced at runtime. See the guide on how to work with multiple RMWs.

Troubleshooting

Troubleshooting techniques can be found here.

Uninstall

  1. If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s setup file. This way, your environment will behave as though there is no Humble install on your system.

  2. If you’re also trying to free up space, you can delete the entire workspace directory with:

    rm -rf ~/ros2_humble