ROS Installation

Attention

We are moving to ROS2. This guide and the following pages are still in the process of being updated. There might be some construction works still going on here and there.

Note

This guide assumes Ubuntu 24.04 is used as OS.

We use ROS2 Jazzy. The following installations steps work for a Ubuntu 24.04 amd64 version and for the Ubuntu 24.04 arm64 server image for the Raspberry Pi.

Preparation

  1. Make sure you have a UTF-8 supported locale with

    $ locale

    If not, refer to the ROS documentation.

  2. Enable universe repository

    $ sudo apt install software-properties-common \
&& sudo add-apt-repository universe

  3. Add the key

    $ 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

  4. Add sources

    $ 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

  5. Update

    Warning

    This is critial!

    $ sudo apt update && sudo apt upgrade -y

Installation

Choose the installation option depending on your needs, e.g. use a more lightweight installation for Raspberry Pis.

  1. Install ROS

    sudo apt install ros-jazzy-desktop-full

  2. Install development tools

    $ sudo apt install ros-dev-tools python3-pip

rosdep Initialization

$ sudo rosdep init && rosdep update

Note

Do not execute rosdep update with root privileges. This would lead to permission issues.

Source the ROS Setup

$ echo 'source /opt/ros/jazzy/setup.zsh' >> ~/.zshrc \
&& . ~/.zshrc

A Brief Test (Optional)

To check whether ROS2 installation is working:

$ ros2 run turtlesim turtlesim_node