Installing ROS2 via Debian Packages¶
Debian packages for ROS 2 Bouncy (the latest release) are available for Ubuntu Bionic; packages for ROS 2 Ardent are available for Ubuntu Xenial.
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To install the Debian packages you will need to add our Debian repository to your apt sources. First you will need to authorize our gpg key with apt like this:
sudo apt update && sudo apt install curl gnupg2 curl http://repo.ros2.org/repos.key | sudo apt-key add -
And then add the repository to your sources list:
sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
Install ROS 2 packages¶
First set an environment variable for the ROS 2 release you want to install so it can be used in other commands.
export ROS_DISTRO=bouncy # or ardent sudo apt update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-$ROS_DISTRO-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-$ROS_DISTRO-ros-base
See specific sections below for how to also install the ros1_bridge, TurtleBot packages, or alternative RMW packages.
(optional) Install argcomplete¶
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
Sourcing the setup script¶
Set up your environment by sourcing the following file (you may want to add this to your
Installing additional RMW implementations¶
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-$ROS_DISTRO-rmw-opensplice-cpp # for OpenSplice sudo apt install ros-$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
Additional packages using ROS 1 packages¶
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-$ROS_DISTRO-ros1-bridge ros-$ROS_DISTRO-turtlebot2-*