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ROS2 Humble Installation

ROS 2 is a next-generation open-source robotics middleware designed for building real-time, reliable, and scalable robotic systems. This wiki will demonstrate the detailed installation process of ROS 2 using Jetson as an example.

Set 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

Install Dependencies​

sudo apt update && sudo apt install gnupg wget
sudo apt install software-properties-common
sudo add-apt-repository universe

Initialize Sources (Choose One Region)​

# US Region
echo 'deb https://isaac.download.nvidia.com/isaac-ros/ubuntu/main focal main' | sudo tee -a /etc/apt/sources.list

# China Region
echo 'deb https://isaac.download.nvidia.cn/isaac-ros/ubuntu/main focal main' | sudo tee -a /etc/apt/sources.list

Add ROS 2 APT Repository​

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

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS2​

sudo apt update
sudo apt install ros-humble-desktop-full  # Options: ros-humble-desktop-full, ros-humble-desktop, or ros-humble-ros-base

Install Additional Build Tools​

sudo apt install ros-dev-tools

Initialize ROS Environment​

sudo rosdep init
rosdep update

Set Up ROS Environment Variables​

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

To verify whether ROS2 has been successfully installed, we can create two new terminals in the device and run the following commands respectively.

# terminal1
ros2 run demo_nodes_cpp talker

# terminal2
ros2 run demo_nodes_py listener

If both terminals print out the messages, it means ROS 2 Humble has been successfully installed! 🎉

Tech Support & Product Discussion​

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