Ubuntu (deb packages)

Deb packages for ROS 2 Kilted Kaiju are currently available for Ubuntu Noble (24.04). The Rolling Ridley distribution will change target platforms from time to time as new platforms are selected for development. The target platforms are defined in REP 2000. Most people will want to use a stable ROS distribution.

Resources 

Status Page:
- ROS 2 Kilted (Ubuntu Noble 24.04): amd64, arm64
Jenkins Instance
Repositories

System setup 

Set locale 

Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like POSIX. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

$ locale  # check for UTF-8

$ sudo apt update && sudo apt install locales
$ sudo locale-gen en_US en_US.UTF-8
$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
$ export LANG=en_US.UTF-8

$ locale  # verify settings

Enable required repositories 

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

The ros-apt-source packages provide keys and apt source configuration for the various ROS repositories.

Installing the ros2-apt-source package will configure ROS 2 repositories for your system. Updates to repository configuration will occur automatically when new versions of this package are released to the ROS repositories.

$ sudo apt update && sudo apt install curl -y
$ export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
$ curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" # If using Ubuntu derivates use $UBUNTU_CODENAME
$ sudo apt install /tmp/ros2-apt-source.deb

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 update && sudo apt install ros-dev-tools

Install ROS 2 

Update your apt repository caches after setting up the repositories.

$ sudo apt update

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

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

$ sudo apt install ros-kilted-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

$ sudo apt install ros-kilted-ros-base

Install additional RMW implementations (optional)

The default middleware that ROS 2 uses is Fast DDS, but the middleware (RMW) can be replaced at runtime. See the guide on how to work with multiple RMWs.

Setup environment 

Set up your environment by sourcing the following file.

$ source /opt/ros/kilted/setup.bash

Note

Replace .bash with your shell if you’re not using bash. Possible values are: setup.bash, setup.sh, setup.zsh.

Try some examples 

If you installed ros-kilted-desktop above you can try some examples.

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

$ source /opt/ros/kilted/setup.bash
$ ros2 run demo_nodes_cpp talker

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

$ source /opt/ros/kilted/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!

$ sudo apt remove ~nros-kilted-* && sudo apt autoremove

You may also want to remove the repository:

$ sudo rm /etc/apt/sources.list.d/ros2.list
$ sudo apt update
$ sudo apt autoremove
$ sudo apt upgrade # Consider upgrading for packages previously shadowed.