> For the complete documentation index, see [llms.txt](https://robocre8.gitbook.io/robocre8/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://robocre8.gitbook.io/robocre8/tutorials/how-to-install-ros2-humble-desktop-on-pc-full-install.md). # How To Install ROS2 Humble Desktop On PC (FULL INSTALL)
Setting up a **ROS2** development environment is crucial for building advanced robotics applications. This tutorial will walk you through the complete process of installing **ROS2 Humble Desktop** on a PC running **Ubuntu 22.04 LTS** or via **WSL** in **Windows 11 or 10**. From the initial setup to configuring essential development tools, you'll have everything you need to prototype, simulate, and deploy robotics solutions. Whether you're a robotics maker, student, or engineer, this guide will get your PC fully equipped for powerful robotics development with ROS2. {% hint style="info" %} NOTE: This tutorial is based on the official ROS Humble Documentation [**here**](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html) {% endhint %} ### Prerequisite * Ensure you have the Ubuntu 22.04 LTS installed on your PC * OR running Ubuntu 22.04 LTS via WSL in Windows 11 or 10 (or with virtual box also) ### Installing ROS Humble Desktop Follow the instructions (step by step) to install ros-humble-desktop on your PC. * Set locale
```shellscript locale # check for UTF-8 ``` ```shellscript sudo apt update && sudo apt install locales ``` ```shellscript sudo locale-gen en_US en_US.UTF-8 ``` ```shellscript sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 ``` ```shellscript export LANG=en_US.UTF-8 ``` ```shellscript locale # verify settings ``` * Setup sources and required repositories
```shellscript sudo apt install software-properties-common ``` ```shellscript sudo add-apt-repository universe ``` ```shellscript sudo apt update && sudo apt install curl -y ``` ```shellscript export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ``` ```shellscript curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" ``` ```shellscript sudo dpkg -i /tmp/ros2-apt-source.deb ``` * Install all the necessary ROS2 development tools - **rosdep**, **colcon**, **vcs-tool**, etc. ```sh sudo apt update && sudo apt install ros-dev-tools ``` * Install ros-humble-desktop ```shellscript sudo apt update && sudo apt upgrade ``` ```sh sudo apt install ros-humble-desktop ``` * Source the ros humble environment with this command
```sh source /opt/ros/humble/setup.bash ``` ### Quick Example Tests * In your current terminal or a new terminal, source the ros-humble setup file and run the CPP talker example
```shellscript source /opt/ros/humble/setup.bash ``` ```shellscript ros2 run demo_nodes_cpp talker ``` * In another terminal, source the ros-humble setup file and run the PYTHON listener example
```shellscript source /opt/ros/humble/setup.bash ``` ```shellscript ros2 run demo_nodes_py listener ``` You should see both communicating together. This means all is working well. ### Add ROS Setup File To .bashrc For Auto Sourcing ```shellscript echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc ``` Now the ros humble environment setup file will be automatically sourced whenever you open a new terminal. ### Setting up colcon for Building ROS2 packages **colcon** is a build tool required to build your ROS2 packages created in your ros workspace. You have already installed it when you ran the `sudo apt install ros-dev-tools` command previously.\ But we need to set it up for things like tab completion, etc. during builds. Run the following command in your terminal. * Setup colcon\_cd
```shellscript echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc ``` ```shellscript echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc ``` * Setup colcon tab completion
```sh echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc ``` With all the above added to the `.bashrc` file, the colcon environment and functions will be automatically activated whenever you open a new terminal as well as automatic sourcing of the ros-humble environment. {% hint style="info" %} To learn more about colcon check the link to its documentation [here](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html) {% endhint %} you should see the following highlighted text (in the image below) at the bottom of your `.bashrc` file. Run this command: ```shellscript sudo nano ~/.bashrc ```
### Intialize and Update rosdep rosdep is a dependency management utility that can work with packages and external libraries. It is a command line utility for identifying and installing dependencies to build or install a package. It is most often invoked before before building a package with colcon. It will basiclally download and installing the necessary dependencies a specified in the `package.xml`file so you don't have to manually install each dependencies again. **rosdep** was already installed when you ran the `sudo apt install ros-dev-tools` command previously. {% hint style="info" %} To learn more about rosdep check out its documentation [here](https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html) {% endhint %} Follow the instructions below to instialize and update rosdep: ```shellscript sudo apt update ``` ```shellscript sudo rosdep init ``` ```shellscript rosdep update ``` ### Optional (Install Cyclone DDS) If you would be using ROS2 for navigation and some other high speed data transfer, install and use the **Cyclone DDS** in place of the default **Fast DDS.** ```shellscript sudo apt install ros-humble-rmw-cyclonedds-cpp ``` ```shellscript export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ``` ```shellscript echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc ``` *** ### Creating A ROS2 Workspace *** * In the root folder of your PC (i.e the home directory), create a **ros workspace** folder. I would be using this workspace name - `ros-ws`.
```sh mkdir -p ~/ros-ws/src ``` * change directory into the root **ros workspace** folder ```sh cd ~/ros-ws ``` * build the **ros workspace** initially with colcon (while still in the root workspace folder) ```sh colcon build ``` \ you should now see three other folders - **build**, **install**, and **log** - apart from the **src** folder already created earlier. Run `ls` to see them in terminal * Let's setup automatic sourcing (optional) for the created workspace - `ros-ws`- in the `.bashrc` file so that it is automatically sourced whenever you open a new terminal. Run this in terminal: ```sh echo "source ~/ros-ws/install/setup.bash" >> ~/.bashrc ``` ### Test with helloworld package * Open a new terminal (to auto source your ros2 environment and workspace) and cd into your ros workspace's **src** folder ```sh cd ~/ros-ws/src ``` * Clone this [**helloworld\_ros2**](https://github.com/samuko-things/helloworld_ros2) package in the src folder ```sh git clone https://github.com/samuko-things/helloworld_ros2.git ``` * Change directory into the root **ros workspace** folder
```sh cd ~/ros-ws ``` * Optionally, run rosdep to install the nessary package dependencies specified in the package's `package.xml`file
```sh rosdep install -i --from-path src --rosdistro humble -y ``` * Build the package with colcon
```sh colcon build --symlink-install ``` * Open two seperate terminals. In one of the terminals, run the c++ talker node:
```sh ros2 run helloworld_cpp talker ``` * In the other terminal, run a python listener node:
```sh ros2 run helloworld_py listener ```