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Software Installation

OS and ROS versions

Ubuntu 22.04
ROS2 Humble

Ubuntu 22.04 Installation guide

Installation Guide

Ros2 humble Installation guide

1. Set locale:

Make sure you have a locale which supports “UTF-8”. For this try the following commands.

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

2. 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.

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

3.Install Ros2 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

sudo apt install ros-humble-desktop

4. Environment Setup:

Set up your environment by sourcing the following file.

source /opt/ros/humble/setup.bash

Automatically add ROS environment variables to your bash session every time a new shell terminal/bash is launched, enter the following command.

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

Sourcing bashrc ensures to use updated bashrc using the following command, or it can be done by closing all terminals and re-opening a new terminal.

source ~/.bashrc

Installation check

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.