Download ROS 2 Humble¶

Set 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¶

First ensure that the Ubuntu Universe repository is enabled.

Drawing

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

Install ROS 2 packages¶

Update your apt repository caches after setting up the repositories.

sudo apt update

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo apt install ros-humble-desktop

Development tools: Compilers and other tools to build ROS packages

sudo apt install ros-dev-tools

Environment setup¶

Sourcing the setup script¶

Set up your environment by sourcing the following file.

source /opt/ros/humble/setup.bash

Try some examples¶

Talker-listener¶

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

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

source /opt/ros/humble/setup.bash
ros2 run demo_nodes_cpp talker

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

source /opt/ros/humble/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 Step¶

Please navigate to CLI Tools Document