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2. Installing Humble in ROS 2

  • The ROS 2 Humble installation supports Ubuntu 22.04.
  • If you need a different ROS 2 version, replace humble in all commands with the desired version (for example, foxy).

1. Set the Locale​

First, ensure your system supports UTF-8 encoding:

locale  # Check for UTF-8 support

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # Verify the configuration
note

The locale can differ, but it must support UTF-8.

2. Set Up the Software Source​

Enable the Ubuntu universe repository:

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

Add the ROS 2 apt repository and authorize the GPG key:

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

Add the repository to the source list:

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

3. Install Humble​

Update the package index:

sudo apt update

Upgrade existing packages:

sudo apt upgrade

Install the ROS 2 desktop version:

sudo apt install ros-humble-desktop python3-argcomplete

Install the colcon build tool:

sudo apt install python3-colcon-common-extensions

4. Configure the Environment​

Source ROS 2 in every new terminal:

source /opt/ros/humble/setup.bash

To make this permanent:

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

At this stage, ROS 2 Humble is fully installed and configured.

5. Run the Publisher and Subscriber Example Nodes​

Run the built-in ROS 2 demo nodes to verify installation.

Publisher​

ros2 run demo_nodes_cpp talker

Subscriber​

ros2 run demo_nodes_cpp listener

6. Run and Test the Turtle Simulator​

Start the turtle simulator:

ros2 run turtlesim turtlesim_node

Run the keyboard control node:

ros2 run turtlesim turtle_teleop_key

You can now control the turtle using your keyboard.