You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

Ubuntu (binary)

This page explains how to install ROS 2 on Ubuntu Linux from a pre-built binary package.

Note

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 deb packages available.

System Requirements 

We currently support Ubuntu Linux Jammy (22.04) 64-bit x86 and 64-bit ARM.

Add the ROS 2 apt repository 

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

Downloading ROS 2 

Go to the releases page
Download the latest package for Ubuntu; let’s assume that it ends up at ~/Downloads/ros2-package-linux-x86_64.tar.bz2.
- Note: there may be more than one binary download option which might cause the file name to differ.

Unpack it:

mkdir -p ~/ros2_humble
cd ~/ros2_humble
tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2

Installing and initializing rosdep 

sudo apt update
sudo apt install -y python3-rosdep
sudo rosdep init
rosdep update

Installing the missing dependencies 

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

Set your rosdistro according to the release you downloaded.

rosdep install --from-paths ~/ros2_humble/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers"

Note: If you’re using a distribution that is based on Ubuntu (like Linux Mint) but does not identify itself as such, you’ll get an error message like Unsupported OS [mint]. In this case append --os=ubuntu:jammy to the above command.

Install development tools (optional)

If you are going to build ROS packages or otherwise do development, you can also install the development tools:

sudo apt install ros-dev-tools

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, you can find instructions here.

Environment setup 

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_humble/ros2-linux/setup.bash

Try some examples 

In one terminal, source the setup file and then run a C++ talker:

. ~/ros2_humble/ros2-linux/setup.bash
ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

. ~/ros2_humble/ros2-linux/setup.bash
ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

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 setup file. This way, your environment will behave as though there is no Humble install on your system.
If you’re also trying to free up space, you can delete the entire workspace directory with:
```
rm -rf ~/ros2_humble
```

Ubuntu (binary)

System Requirements 

Add the ROS 2 apt repository 

Downloading ROS 2 

Installing and initializing rosdep 

Installing the missing dependencies 

Install development tools (optional)

Install additional DDS implementations (optional)

Environment setup 

Source the setup script 

Try some examples 

Next steps after installing 

Using the ROS 1 bridge 

Additional RMW implementations (optional)

Troubleshooting 

Uninstall 