Installing ROS 2 on Ubuntu with `ros2_install.sh`
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Setting up a reliable and efficient ROS 2 development environment is a key step in any robotics or automation project. In our previous post, we covered how to:
- Update a fresh Ubuntu installation.
- Create and configure a dedicated ROS 2 user.
- Prepare the system for installing ROS 2.
Now, we’ll continue that journey by walking through the ros2_install.sh script. This script automates the installation of ROS 2 base components and supporting tools to streamline your development setup.
✅ Note: These steps are tailored for Ubuntu 20.04 (Focal) and Ubuntu 22.04 (Jammy) systems.
📚 Table of Contents
Overview of the ros2_install.sh Script
The ros2_install.sh script is designed to automate the key steps needed to install ROS 2 on a clean Ubuntu system. It handles:
- Installing all necessary system dependencies.
- Adding the official ROS 2 package repository and its GPG key.
- Installing core ROS 2 packages along with useful developer tools.
- Initializing
rosdep, which handles ROS dependency management.
This script greatly simplifies what would otherwise be a tedious manual installation process.
Step-by-Step Breakdown
Installing Prerequisite Packages
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apt install -y curl gnupg2 lsb-release software-properties-common
This command installs essential tools needed to add third-party APT repositories:
curl: Downloads content from URLs (used to retrieve the GPG key).gnupg2: Manages GPG keys to verify repository authenticity.lsb-release: Outputs distribution codename (e.g.,focal,jammy) for dynamic configuration.software-properties-common: Allows managing additional APT sources.
Adding the ROS 2 Repository
Import the GPG Key:
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curl -sSL "$ROS_KEY_URL" -o /etc/apt/trusted.gpg.d/ros.asc
This command downloads the ROS 2 repository’s public GPG key and stores it in the system’s trusted keyring, ensuring secure installation of ROS packages.
Add the Repository:
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echo "deb [arch=amd64 signed-by=/etc/apt/trusted.gpg.d/ros.asc] $ROS_REPO_URL $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list
This command adds the ROS 2 repository to the system’s APT sources. It automatically uses the appropriate Ubuntu codename (e.g., jammy) to ensure compatibility.
Update APT Cache:
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apt update
This refreshes the package index so the newly added ROS 2 repository is recognized.
Installing ROS 2 Base and Tools
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apt install -y ros-$ROS_DISTRO-ros-base python3-rosdep python3-colcon-common-extensions python3-argcomplete colcon
This installs the ROS 2 base system and essential development tools:
ros-$ROS_DISTRO-ros-base: The minimal installation of ROS 2.python3-rosdep: Tool to resolve and install ROS package dependencies.colcon,python3-colcon-common-extensions: ROS 2’s recommended build system.python3-argcomplete: Adds command-line autocompletion for ROS CLI tools.
Initializing rosdep
One-Time Initialization (if needed):
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[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || rosdep init
This checks whether rosdep has already been initialized. If not, it runs the initialization process.
Update rosdep Definitions:
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rosdep update
Downloads the latest package dependency definitions so that rosdep can install required system packages for ROS nodes.
Setting Up the ROS 2 Environment
Source the Environment Manually:
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source /opt/ros/<distro>/setup.bash
This sets up necessary environment variables (like ROS_PACKAGE_PATH) for ROS 2 in the current terminal session.
Make it Persistent for a User:
1
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grep -q "source /opt/ros/$ROS_DISTRO/setup.bash" /home/$ROS_USER/.bashrc \
|| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$ROS_USER/.bashrc
This command ensures the ROS 2 environment is automatically sourced every time the user opens a new terminal. It checks for an existing entry to avoid duplicates.
Next Steps
At this point, your system should be fully prepared for ROS 2 development. Here’s what we’ve achieved so far:
- A freshly installed and updated Ubuntu system.
- A dedicated user account configured for ROS 2.
- ROS 2 base system and build tools installed and ready to use.
In the next post, we’ll focus on securing the ROS 2 environment using AppArmor and Auditd, adding an extra layer of protection to your robotics platform.