JackYang-hellobobo/Ubuntu-install-Debians.rst

## Ubuntu-install-Debians.rst

      
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              Ubuntu-install-Debians.rst
            
          
    Ubuntu (Debian)


Table of Contents

Debian packages for ROS 2 {DISTRO_TITLE_FULL} are currently available for Ubuntu Focal.
Resources


Status Page:

ROS 2 {DISTRO_TITLE} (Ubuntu Focal): amd64, arm64

Jenkins Instance
Repositories

Set locale

Setup Sources

Install ROS 2 packages

Update your apt repository caches after setting up the repositories.
sudo apt update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo apt install ros-{DISTRO}-desktop python3-argcomplete
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo apt install ros-{DISTRO}-ros-base python3-argcomplete
Development tools: Compilers and other tools to build ROS packages
sudo apt install ros-dev-tools
Environment setup

Sourcing the setup script

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
source /opt/ros/{DISTRO}/setup.bash
Try some examples

If you installed ros-{DISTRO}-desktop above you can try some examples.
In one terminal, source the setup file and then run a C++ talker:
source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python listener:
source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_py listener
You should see the talker saying that it's Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!
Next steps after installing

Continue with the tutorials and demos <../../Tutorials> to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
Using the ROS 1 bridge

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.
Additional RMW implementations (optional)

The default middleware that ROS 2 uses is Fast-RTPS, but the middleware (RMW) can be replaced at runtime. See the guide <../How-To-Guides/Working-with-multiple-RMW-implementations> on how to work with multiple RMWs.
Troubleshooting

Troubleshooting techniques can be found here <../How-To-Guides/Installation-Troubleshooting>.
Uninstall

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 ~nros-{DISTRO}-* && sudo apt autoremove
You may also want to remove the repostiory:
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove
# Consider upgrading for packages previously shadowed.
sudo apt upgrade