Setting up ROS 2 Humble Hawksbill on Windows 10

Environment

Windows 10

Windows (binary) — ROS 2 Documentation: Humble documentationdocs.ros.org

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/379164/rti-connext-dds-environment-script-not-found-ros2-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"