You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Iron.
Table of Contents
This page explains how to install ROS 2 on RHEL from a pre-built binary package.
The pre-built binary does not include all ROS 2 packages. All packages in the ROS base variant are included, and only a subset of packages in the ROS desktop variant are included. The exact list of packages are described by the repositories listed in this ros2.repos file.
There are also RPM packages available.
We currently support RHEL 8 64-bit.
Enable required repositories
The rosdep database contains packages from the EPEL and PowerTools repositories, which are not enabled by default. They can be enabled by running:
sudo dnf install 'dnf-command(config-manager)' epel-release -y sudo dnf config-manager --set-enabled powertools
This step may be slightly different depending on the distribution you are using. Check the EPEL documentation: https://docs.fedoraproject.org/en-US/epel/#_quickstart
There are a few packages that must be installed in order to get and unpack the binary release.
sudo dnf install tar bzip2 wget -y
Downloading ROS 2
Go to the releases page
Download the latest package for RHEL; let’s assume that it ends up at
Note: there may be more than one binary download option which might cause the file name to differ.
mkdir -p ~/ros2_galactic cd ~/ros2_galactic tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2
Installing and initializing rosdep
sudo dnf install -y python3-rosdep sudo rosdep init rosdep update
Installing the missing dependencies
ROS 2 packages are built on frequently updated RHEL systems. It is always recommended that you ensure your system is up to date before installing new packages.
sudo dnf update
Set your rosdistro according to the release you downloaded.
rosdep install --from-paths ~/ros2_galactic/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps python3-babeltrace python3-mypy rmw_connextdds rmw_fastrtps_dynamic_cpp rti-connext-dds-5.3.1 urdfdom_headers"
Install additional DDS implementations (optional)
If you would like to use another DDS or RTPS vendor besides the default, you can find instructions here.
Source the setup script
Set up your environment by sourcing the following file.
# Replace ".bash" with your shell if you're not using bash # Possible values are: setup.bash, setup.sh, setup.zsh . ~/ros2_galactic/ros2-linux/setup.bash
Try some examples
In one terminal, source the setup file and then run a C++
. ~/ros2_galactic/ros2-linux/setup.bash ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python
. ~/ros2_galactic/ros2-linux/setup.bash ros2 run demo_nodes_py listener
You should see the
talker saying that it’s
Publishing messages and the
I heard those messages.
This verifies both the C++ and Python APIs are working properly.
Next steps after installing
Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
Additional RMW implementations (optional)
The default middleware that ROS 2 uses is
Cyclone DDS, but the middleware (RMW) can be replaced at runtime.
See the guide on how to work with multiple RMWs.
Troubleshooting techniques can be found here.
If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s
setupfile. This way, your environment will behave as though there is no Galactic install on your system.
If you’re also trying to free up space, you can delete the entire workspace directory with:
rm -rf ~/ros2_galactic