You're reading the documentation for a version of ROS 2 that has reached its EOL (end-of-life), and is no longer officially supported. If you want up-to-date information, please have a look at Iron.
Installing ROS 2 via Debian Packages
Debian packages for ROS 2 Eloquent Elusor are available for Ubuntu Bionic.
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
locale # verify settings
You will need to add the ROS 2 apt repositories to your system. To do so, first authorize our GPG key with apt like this:
sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
And then add the repository to your sources list:
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
Update your apt repository caches after setting up the repositories.
sudo apt update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-eloquent-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-eloquent-ros-base
Set up your environment by sourcing the following file.
ROS 2 command line tools use argcomplete to autocompletion. So if you want autocompletion, installing argcomplete is necessary.
sudo apt install -y python3-pip
pip3 install -U argcomplete
If you installed
ros-eloquent-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 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 tutorial 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 apt remove ros-eloquent-* && sudo apt autoremove