Setting up ROS 2 Humble Hawksbill on Windows 10
Environment
Windows 10
Install Chocolatey
Run PowerShell as admin

Ensure Get-ExecutionPolicy is not Restricted
PS C:\Windows\system32> Get-ExecutionPolicy
Restricted
To change this, run
PS C:\Windows\system32> Set-ExecutionPolicy AllSigned
Execution Policy Change
The execution policy helps protect you from scripts that you do not trust. Changing the execution policy might expose
you to the security risks described in the about_Execution_Policies help topic at
https:/go.microsoft.com/fwlink/?LinkID=135170. Do you want to change the execution policy?
[Y] Yes [A] Yes to All [N] No [L] No to All [S] Suspend [?] Help (default is "N"): Y
PS C:\Windows\system32> Get-ExecutionPolicy
AllSigned
Set the installation directory:
$env:ChocolateyInstall = "D:\Documents\chocolately"
PS C:\Windows\system32> Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))


Install Python and VCredist140
choco install -y python --version 3.8.3
choco install -y vcredist2013 vcredist140
Install OpenSSL
Download the Win64 OpenSSL v1.1.1n OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.1.1n. Don’t download the Win32 or Light versions, or the v3.X.Y installers.
setx /m OPENSSL_CONF "D:\Documents\OpenSSL-Win64\bin\openssl.cfg"
Add openssl to PATH
D:\Documents\OpenSSL-Win64\bin
Install Visual Studio
An easy way to make sure they’re installed is to select the Desktop development with C++
workflow during the install.
Install OpenCV
Download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .
setx /m OpenCV_DIR "D:\Documents\ros2-humble\tools\opencv"
Add D:\Documents\ros2-humble\tools\opencv\x64\vc16\bin
to path.
Install other dependencies
choco install -y cmake
Add C:\Program Files\CMake\bin
to path
choco install -y -s D:\Downloads asio cunit eigen tinyxml-usestl tinyxml2 bullet
python -m pip install -U pip setuptools==59.6.0
python -m pip install -U catkin_pkg cryptography empy importlib-metadata lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro
Install Qt5
setx /m Qt5_DIR D:\Documents\Qt\Qt5.12.12\5.12.12\msvc2017_64
setx /m QT_QPA_PLATFORM_PLUGIN_PATH D:\Documents\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms
Install Graphviz
To run rqt_graph you need to download and install Graphviz.
Select add to PATH in the installer options
D:\Documents\ros2-windows\tools\Graphviz
Install ROS2
call D:\Documents\ros2-humble\local_setup.bat
https://www.reddit.com/r/ROS/comments/b7jsgx/trouble_installing_ros_2_on_windows/
https://answers.ros.org/question/294209/ros2-command-not-found-in-windows/
Note: need to use cmd.exe, powershell will not work.
Install Fast DDS
Download the latest windows release from here:
https://www.eprosima.com/index.php/component/ars/repository/eprosima-fast-dds
Install RTI Connext DDS
call "D:\Documents\ros2-humble\tools\rti_context_dds\rti_connext_dds-6.1.1\resource\scripts\rtisetenv_x64Win64VS2017.bat"
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