3. ROS2 Humble

Note

For more information about installation, please visit the official ROS2 website.

Please note that we have already installed ROS 2 Humble within the Docker environment. Generally, you do not need to install ROS 2 yourself. You will only need to manually install ROS 2 in a few exceptional cases, such as when you want to add features to our codebase but have your own Dockerfile.

Follow these steps to install ROS 2 Humble on your system:

1. Set Up Your System

   Ensure that your system is up to date:

   sudo apt update
   sudo apt upgrade
   sudo apt install -y software-properties-common
   sudo add-apt-repository universe
   

2. Add the ROS2 GPG Key

   Download and add the GPG key for the ROS 2 repository:

   sudo apt install -y curl
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
   

3. Add the ROS 2 Repository

   Add the ROS 2 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
   

4. Install ROS 2 Humble

   Update your package list and install the full desktop version of ROS 2 Humble:

   sudo apt update
   sudo apt upgrade
   sudo apt install ros-humble-desktop
   

5. Set Up Environment Variables

   Add the ROS 2 environment variables to your shell:

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