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Install ROS2 Humble Hawksbill

To install ROS2, we can simply follow the official guide from the ROS2 documentaion, available at the following link: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

For convenience is reported in full below.

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.

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

⚠ Warning
Due to early updates in Ubuntu 22.04 it is important that systemd and udev-related packages are updated before installing ROS 2.
The installation of ROS 2’s dependencies on a freshly installed system without upgrading can trigger the removal of critical system packages.

Please refer to ros2/ros2#1272 and Launchpad #1974196 for more information.

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

Add ROS2 to .bashrc​

To allow running ros2 commands everytime you open a new terminal:

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