System Setup

System Requirements

  • Ubuntu 22.04

  • ROS 2 Humble

  • Cyclone DDS

Install ROS 2 Humble

Follow the official documentation to install the latest binary release of ROS 2.

Install all necessary additional dependencies:

sudo apt install -y python3-colcon-common-extensions \
                    python3-vcstool \
                    python3-rosdep

Remember to initialize and update rosdep if it is your first time installing rosdep.

sudo rosdep init
rosdep update

Note

Append ROS2 environment in .bashrc (Optional)

To ensure that the ROS2 environment is sourced automatically when the terminal is started, append the following line to the end of the bash configuration (in ~/.bashrc):

source /opt/ros/humble/setup.bash

Install Cyclone DDS

sudo apt install ros-humble-rmw-cyclonedds-cpp

Add the following line to your ~/.bashrc to always select Cyclone DDS by default.

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Alternatively, follow the official documentation to build from source.