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ROS2 Installation

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 ensure that the Ubuntu Universe repository is enabled.

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

Now add the ROS 2 GPG key with apt.

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

Then add the repository to your sources list.

If you encounter the error "Failed to connect to raw.githubusercontent.com port 443 after 13 ms: Connection refused", you can refer to https://www.guyuehome.com/37844 The handling method:

sudo vi /etc/hosts
#####################
127.0.0.1	localhost
127.0.1.1	iron-virtual-machine
### Add the following resolution
185.199.108.133  raw.githubusercontent.com
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

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-foxy-desktop

Environment setup​

Sourcing 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
$ source /opt/ros/humble/setup.bash
$ echo " source /opt/ros/humble/setup.bash" >> ~/.bashrc

Try some examples​

If you installed ros-foxy-desktop above you can try some examples.

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

ros2 run demo_nodes_cpp talker

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

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!

Example 2:

Little Turtle Simulation Example Let's try again the classic example in ROS - the little turtle simulator.

Start two terminals and run the following instructions respectively:

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

ros2_demo