Installing ROS 2 Foxy

Ubuntu 20.04 LTS

We will walk through the installation process step-by-step, ensuring that you understand each command.

1. Step 1: Set Up Your Ubuntu Machine

   • Ensure you are using Ubuntu 20.04 LTS, the recommended version for ROS Foxy.

   • Update your system’s package index before installation:

     sudo apt update
     sudo apt upgrade

     • sudo: Run the command with administrative privileges.

     • apt update: Fetches the latest updates for the package index.

     • apt upgrade: Installs the latest versions of installed packages.

2. Step 2: Set Up the ROS 2 Package Sources

   • Add the ROS 2 repository to your system:

     sudo apt install software-properties-common
     sudo add-apt-repository universe
     sudo apt update

     This ensures that the system can download packages from the ROS repository.

3. Step 3: Add the ROS 2 Keys

   • You need to add the GPG keys to authenticate ROS packages:

     sudo apt update && sudo apt install curl -y
     sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
     sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

   • Add the repository to your sources list.

   • echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

4. Step 4: Install ROS 2 Foxy

   • Install the desktop version of ROS Foxy, which includes commonly used ROS 2 tools:

     sudo apt install ros-foxy-desktop

     This installs the core ROS 2 packages, RViz (a visualization tool), and Gazebo (a simulation tool).

5. Step 5: Set Up Your Environment

   • Source your ROS 2 installation so that ROS commands work correctly:

     source /opt/ros/foxy/setup.bash

   • To avoid running this every time, add the command to your .bashrc file:

     echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
     source ~/.bashrc

Windows 10