Installing ROS 2 via Debian Packages¶
Table of Contents
Debian packages for ROS 2 Crystal (the latest release) and ROS 2 Bouncy are available for Ubuntu Bionic; packages for ROS 2 Ardent are available for Ubuntu Xenial.
Make sure you have a locale which supports
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.
It should be fine if you’re using a different UTF-8 supported locale.
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
You will need to add the ROS 2 apt repositories to your system. To do so, first authorize our GPG key with apt like this:
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 -
And then add the repository to your sources list:
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
First set an environment variable for the ROS 2 release you want to install so it can be used in other commands.
export CHOOSE_ROS_DISTRO=crystal # or bouncy or ardent sudo apt update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-$CHOOSE_ROS_DISTRO-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-$CHOOSE_ROS_DISTRO-ros-base
Set up your environment by sourcing the following file.
ROS 2 command line tools use argcomplete to autocompletion. So if you want autocompletion, installing argcomplete is necessary.
sudo apt install python3-argcomplete
Ubuntu 16.04 (argcomplete >= 0.8.5)¶
argcomplete on Ubuntu 16.04 (Xenial), you’ll need to use pip, because the version available through
apt will not work due to a bug in that version of
sudo apt install python3-pip sudo pip3 install argcomplete
In one terminal, set up the ROS 2 environment as described above and then run a C++
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python
ros2 run demo_nodes_py listener
You should see the
talker saying that it’s
Publishing messages and the
I heard those messages.
This verifies both the C++ and Python APIs are working properly.
See the tutorials and demos for other things to try.
By default the RMW implementation
FastRTPS is used.
If using Ardent OpenSplice is also installed.
To install support for OpenSplice or RTI Connext on Bouncy:
sudo apt update sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-opensplice-cpp # for OpenSplice sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-connext-cpp # for RTI Connext (requires license agreement)
By setting the environment variable
RMW_IMPLEMENTATION=rmw_opensplice_cpp you can switch to use OpenSplice instead.
For ROS 2 releases Bouncy and newer,
RMW_IMPLEMENTATION=rmw_connext_cpp can also be selected to use RTI Connext.
If you want to install the Connext DDS-Security plugins please refer to this page.
University, purchase or evaluation options are also available for RTI Connext.
ros1_bridge as well as the TurtleBot demos are using ROS 1 packages.
To be able to install them please start by adding the ROS 1 sources as documented here.
If you’re using Docker for isolation you can start with the image
osrf/ros:melodic-desktop (or Kinetic if using Ardent).
This will also avoid the need to setup the ROS sources as they will already be integrated.
Now you can install the remaining packages:
sudo apt update sudo apt install ros-$CHOOSE_ROS_DISTRO-ros1-bridge
The turtlebot2 packages are available in Bouncy but not Crystal.
sudo apt install ros-$CHOOSE_ROS_DISTRO-turtlebot2-*
If you would like to build your own packages, refer to the tutorial "Using Colcon to build packages".