# How To Install ROS2 Jazzy 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 Jazzy Desktop** on a PC running **Ubuntu 24.04 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 Jazzy Documentation [here](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html) {% endhint %} ### Prerequisite * Ensure you have the Ubuntu 24.04 LTS installed on your PC * OR running Ubuntu 24.04 LTS via WSL in Windows 11 or 10 (or with virtual box) ### Installing ROS Jazzy Desktop Follow the instructions (step by step) to install ros-jazzy-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-jazzy-desktop ```shellscript sudo apt update && sudo apt upgrade ``` ```sh sudo apt install ros-jazzy-desktop ``` * Source the ros jazzy environment with this command
```sh source /opt/ros/jazzy/setup.bash ``` ### Quick Example Tests * In your current terminal or a new terminal, source the ros-jazzy setup file and run the CPP talker example
```shellscript source /opt/ros/jazzy/setup.bash ``` ```shellscript ros2 run demo_nodes_cpp talker ``` * In another terminal, source the ros-jazzy setup file and run the PYTHON listener example
```shellscript source /opt/ros/jazzy/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/jazzy/setup.bash" >> ~/.bashrc ``` Now the ros jazzy 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/jazzy/" >> ~/.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/jazzy/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/jazzy/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-jazzy-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 ``` --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://robocre8.gitbook.io/robocre8/tutorials/how-to-install-ros2-jazzy-desktop-on-pc-full-install.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.