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 Humble.
Table of Contents
Debian packages for ROS 2 Foxy Fitzroy are currently available for Ubuntu Focal.
Make sure you have a locale which supports
If you are in a minimal environment (such as a docker container), the locale may be something minimal like
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
You will need to add the ROS 2 apt repositories to your system. First, make sure that the Ubuntu Universe repository is enabled by checking the output of this command.
apt-cache policy | grep universe
This should output a line like the one below:
500 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 Packages release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64
If you don’t see an output line like the one above, then enable the Universe repository with these instructions.
sudo apt install software-properties-common sudo add-apt-repository universe
Now add the ROS 2 apt repository to your system.
sudo apt update && sudo apt install curl gnupg2 lsb-release 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 $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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-foxy-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-foxy-ros-base
If you installed
ros-foxy-desktop above you can try some examples.
In one terminal, source the setup file and then run a C++
source /opt/ros/foxy/setup.bash ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python
source /opt/ros/foxy/setup.bash ros2 run demo_nodes_py listener
You should see the
talker saying that it’s
Publishing messages and the
I heard those messages.
This verifies both the C++ and Python APIs are working properly.
Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa. See the dedicated documentation on how to build and use the ROS 1 bridge.
The default middleware that ROS 2 uses is
Fast-RTPS, but the middleware (RMW) can be replaced at runtime.
See the guide on how to work with multiple RMWs.
If you need to uninstall ROS 2 or switch to a source-based install once you have already installed from binaries, run the following command:
sudo apt remove ~nros-foxy-* && sudo apt autoremove
You may also want to remove the repostiory:
sudo rm /etc/apt/sources.list.d/ros2.list sudo apt update sudo apt autoremove # Consider upgrading for packages previously shadowed. sudo apt upgrade