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 Iron.
RHEL (RPM packages)
RPM packages for ROS 2 Humble Hawksbill are currently available for RHEL 8.
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 dnf install langpacks-en glibc-langpack-en
locale # verify settings
You will need to enable the EPEL repositories and the PowerTools repository:
sudo dnf install 'dnf-command(config-manager)' epel-release -y
sudo dnf config-manager --set-enabled powertools
This step may be slightly different depending on the distribution you are using. Check the EPEL documentation: https://docs.fedoraproject.org/en-US/epel/#_quickstart
Next, download the ROS 2 .repo file:
sudo dnf install curl
sudo curl --output /etc/yum.repos.d/ros2.repo http://packages.ros.org/ros2/rhel/ros2.repo
Then, update your metadata cache.
DNF may prompt you to verify the GPG key, which should match the location
sudo dnf makecache
ROS 2 packages are built on frequently updated RHEL systems. It is always recommended that you ensure your system is up to date before installing new packages.
sudo dnf update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo dnf install ros-humble-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo dnf install ros-humble-ros-base
Set up your environment by sourcing the following file.
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
If you installed
ros-humble-desktop above you can try some examples.
In one terminal, source the setup file and then run a C++
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python
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 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.
Troubleshooting techniques can be found here.
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 dnf remove ros-humble-*