Setting up ROS 2 Humble Hawksbill on Ubuntu
Environment
Ubuntu 22.04
Setup Sources
Enable the Ubuntu Universe repository.
sudo apt install software-properties-common
sudo add-apt-repository universe
Add the ROS 2 GPG key with apt.
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
Install ROS 2 packages
WARNING: ROS2 tools like colcon does not quite work with
conda
environments, so it's recommended to install ROS-related things directly under system environment. In this case, make sure when running the commands, the conda environment is disabled:> (base)$ conda deactivate > $
apt
will install things to system directory, butpip
will install it to current active Python directory.
Update apt repository caches after setting up the repositories, and ensure the system is up to date before installing new packages.
sudo apt update
sudo apt upgrade
Install Desktop Install, including ROS, RViz, demos, and tutorials.
sudo apt install ros-humble-desktop
Install Colcon
Colcon is a tool used to build ROS 2 software packages.
sudo apt update
sudo apt install python3-colcon-common-extensions
Adding Environment Variables
Colcon also has a tool, colcon_cd
, to help navigating to package directories.
# ROS 2 Humble
source /opt/ros/humble/setup.sh
source /usr/share/colcon_cd/function/colcon_cd.sh
Additional Tools
sudo apt install python3-rosdep2
rosdep update
other possible required dependencies
sudo apt install ros-humble-joint-state-publisher-gui
sudo apt install ros-humble-xacro
With Ubuntu 22.04 + ROS 2 Humble combination, we also need the following dependencies for building turtlesim:
pip install empy
pip install lark
Install Gazebo support
sudo apt install ros-humble-gazebo-ros2-control ros-humble-gazebo-ros
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