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Ubuntu install of C turtle

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than SVN-based builds and are our preferred installation method for Ubuntu.

Contents

  1. Ubuntu install of C turtle
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
    2. Tutorials
    3. Source-based and other installation options

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your sources.list file to accept Debian packages from the ROS server.

  • Ubuntu 9.04 (Jaunty) 

    • sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu jaunty main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 9.10 (Karmic) 

    • sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu karmic main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 10.04 (Lucid) 

    • sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 10.10 (Maverick) 

    • sudo sh -c 'echo "deb http://code.ros.org/packages/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • wget http://code.ros.org/packages/ros.key -O - | sudo apt-key add -

Installation

Make sure you have re-indexed the ROS.org server: 

  • sudo apt-get update

From April 2011, karmic will no longer be available in Ubuntu's archive because the support period officially ended. If you still want to stick to karmic, you might need some workaround, to modify /etc/apt/sources.list, to set domains of repository URLs to old-releases for all URLs in the file (workaround found here).

Choose your preferred install:

  • ROS only: 

    • sudo apt-get install ros-cturtle-ros

      or click here

    Base: ROS plus robot-generic stacks (e.g. navigation, visualization) 

    • sudo apt-get install ros-cturtle-base

      or click here

    PR2: ROS plus PR2-specific stacks, including PR2 simulator. 

    • sudo apt-get install ros-cturtle-pr2

      or click here

    • Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time: 

      • echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections

    PR2 All: ROS plus PR2 and bleeding edge research/experimental stacks. 

    • sudo apt-get install ros-cturtle-pr2all

      or click here

    • Note: You will get a prompt about hddtemp: you can safely answer no to the prompt if you are not installing on an actual PR2. To avoid getting the prompt, you can set the debconf selection ahead of time: 

      • echo "hddtemp hddtemp/daemon boolean false" | sudo debconf-set-selections

    Stack-specific: You can also install a specific ROS stack (replace underscores with dashes of the stack name): 

    • sudo apt-get install ros-cturtle-STACK
      e.g. 
      sudo apt-get install ros-cturtle-slam-gmapping

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/cturtle/setup.bash

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Source-based and other installation options

Ubuntu install of Diamondback

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source, please see source (download-and-compile) installation instructions.

Contents

  1. Ubuntu install of Diamondback
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from ROS.org.

  • Ubuntu 10.04 (Lucid) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 10.10 (Maverick) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 11.04 (Natty) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

Make sure you have re-indexed the ROS.org server: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

  • Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-diamondback-desktop-full

      or click here

    Desktop Install: ROS, rx, rviz, and robot-generic libraries 

    • sudo apt-get install ros-diamondback-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-diamondback-ros-base

      or click here

    Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name): 

    • sudo apt-get install ros-diamondback-STACK
      e.g. 
      sudo apt-get install ros-diamondback-slam-gmapping

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/diamondback/setup.bash

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of Electric

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source, please see source (download-and-compile) installation instructions.

Contents

  1. Ubuntu install of Electric
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from ROS.org.

  • Ubuntu 10.04 (Lucid) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 10.10 (Maverick) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu maverick main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 11.04 (Natty) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu natty main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 11.10 (Oneiric) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

Make sure you have re-indexed the ROS.org server: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

  • Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-electric-desktop-full

      or click here

    Desktop Install: ROS, rx, rviz, and robot-generic libraries 

    • sudo apt-get install ros-electric-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-electric-ros-base

      or click here

    Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name): 

    • sudo apt-get install ros-electric-STACK
      e.g. 
      sudo apt-get install ros-electric-slam-gmapping

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/electric/setup.bash

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of Fuerte

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

Contents

  1. Ubuntu install of Fuerte
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
      6. Standalone tools
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Fuerte does not support Maverick, Natty, or Quantal.

  • Ubuntu 10.04 (Lucid) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu lucid main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 11.10 (Oneiric) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 12.04 (Precise) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

Make sure you have re-indexed the ROS.org server: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS stacks individually.

  • Desktop-Full Install: (Recommended): ROS, rx, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-fuerte-desktop-full

      or click here

    Desktop Install: ROS, rx, rviz, and robot-generic libraries 

    • sudo apt-get install ros-fuerte-desktop

      or click here

    ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-fuerte-ros-comm

      or click here

    Individual Stack: You can also install a specific ROS stack (replace underscores with dashes of the stack name): 

    • sudo apt-get install ros-fuerte-STACK
      e.g. 
      sudo apt-get install ros-fuerte-slam-gmapping

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/fuerte/setup.bash

Most users will want to develop their own packages. The best way to configure the environment for that is to create an overlay.

Standalone tools

rosinstall and rosdep are frequently used command-line tools in ROS that are distributed separately. rosinstall enables you to easily download source trees for ROS packages and stacks. rosdep enables you to easily install system dependencies for source you are about to compile.

To install these tools, run: 

sudo apt-get install python-rosinstall python-rosdep

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of ROS Groovy

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

Contents

  1. Ubuntu install of ROS Groovy
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Initialize rosdep
      6. Environment setup
      7. Getting rosinstall
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. ROS Groovy does not support Lucid, Maverick or Natty.

  • Ubuntu 11.10 (Oneiric) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu oneiric main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 12.04 (Precise) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

    Ubuntu 12.10 (Quantal) 

    • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list'

Set up your keys

  • wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-groovy-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-groovy-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-groovy-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-groovy-PACKAGE
      e.g. 
      sudo apt-get install ros-groovy-slam-gmapping

To find available packages, use: 

apt-cache search ros-groovy

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. 

sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/groovy/setup.bash

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run: 

sudo apt-get install python-rosinstall

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of ROS Hydro

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

Contents

  1. Ubuntu install of ROS Hydro
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Get released packages earlier
      4. Set up your keys
      5. Installation
      6. Initialize rosdep
      7. Environment setup
      8. Getting rosinstall
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted", "universe", and "multiverse". Also make sure to have "recommended updates" enabled. You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Note that this is for installing the PR2 ROS debians and does not contain instructions for setting up the real PR2. Setup your computer to accept software from packages.ros.org and Clearpath Robotics. ROS Hydro ONLY supports Precise, Quantal, and Raring for debian packages.

Mirrors

You could also use a geographically closer mirror from the following page but you might want to check how up-to-date it is: ROS/Installation/UbuntuMirrors

Get released packages earlier

After a new version of a package has been released it takes some time until it gets synced into the public repositories referenced above. This is mostly to give it some soak time and check for regressions.

If you don't want to wait for the sync but want to use the latest-and-greatest version of ROS packages (even if that might sometime get you unstable packages) you can switch to a different apt repository. You need to change the above entry to use the following URL instead: 

http://packages.ros.org/ros-shadow-fixed/ubuntu

Set up your keys

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

NOTE: You may get a prompt about hddtemp when you do the install below: you can safely answer no to the prompt if you are not installing on an actual PR2.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-hydro-desktop-full
      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-hydro-desktop
      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-hydro-ros-base
      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-hydro-PACKAGE
      • e.g. 
      sudo apt-get install ros-hydro-slam-gmapping

To find available packages, use: 

apt-cache search ros-hydro

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. 

sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/hydro/setup.bash

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run: 

sudo apt-get install python-rosinstall

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

CategoryCategory

Ubuntu install of ROS Indigo

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Indigo
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Initialize rosdep
      6. Environment setup
      7. Getting rosinstall
      8. Build farm status
    2. Tutorials

Installation

ROS Indigo ONLY supports Saucy (13.10) and Trusty (14.04) for debian packages.

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update && sudo apt-get install dpkg

    • If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

      • /!\ Do not install these packages if you are using 14.04, it will destroy your X server: 

        sudo apt-get install xserver-xorg-dev-lts-trusty mesa-common-dev-lts-trusty libxatracker-dev-lts-trusty libopenvg1-mesa-dev-lts-trusty libgles2-mesa-dev-lts-trusty libgles1-mesa-dev-lts-trusty libgl1-mesa-dev-lts-trusty libgbm-dev-lts-trusty libegl1-mesa-dev-lts-trusty

        /!\ Do not install the above packages if you are using 14.04, it will destroy your X server

      Alternatively, try installing just this to fix dependency issues: 

      • sudo apt-get install libgl1-mesa-dev-lts-trusty

    For more information on this issue see this answers.ros.org thread or this launchpad issue

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception

    Indigo uses Gazebo 2 which is the default version of Gazebo on Trusty and is recommended. If you would like to instead use a newer version of Gazebo (5, 6 or 7), refer to these instructions on the Gazebo site. Note that installing a newer version of Gazebo will require you to build dependent packages (such as turtlebot_gazebo) to be built from source. See also Using a specific Gazebo version with ROS. 

    • sudo apt-get install ros-indigo-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-indigo-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-indigo-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-indigo-PACKAGE
      e.g. 
      sudo apt-get install ros-indigo-slam-gmapping

To find available packages, use: 

apt-cache search ros-indigo

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. 

sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/indigo/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell: 

echo "source /opt/ros/indigo/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run: 

sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

CategoryCategory

Ubuntu install of ROS Jade

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu.

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Jade
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Initialize rosdep
      6. Environment setup
      7. Getting rosinstall
      8. Build farm status
    2. Tutorials
      1. Obtain source code of the installed packages

Installation

ROS Jade ONLY supports Trusty (14.04), Utopic (14.10) and Vivid (15.04) for debian packages.

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update

    • If you are using Ubuntu Trusty 14.04.2 and experience dependency issues during the ROS installation, you may have to install some additional system dependencies.

      • /!\ Do not install these packages if you are using 14.04, it will destroy your X server: 

        sudo apt-get install xserver-xorg-dev-lts-utopic mesa-common-dev-lts-utopic libxatracker-dev-lts-utopic libopenvg1-mesa-dev-lts-utopic libgles2-mesa-dev-lts-utopic libgles1-mesa-dev-lts-utopic libgl1-mesa-dev-lts-utopic libgbm-dev-lts-utopic libegl1-mesa-dev-lts-utopic

        /!\ Do not install the above packages if you are using 14.04, it will destroy your X server

      Alternatively, try installing just this to fix dependency issues: 

      • sudo apt-get install libgl1-mesa-dev-lts-utopic

    For more information on this issue see this answers.ros.org thread or this launchpad issue

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    Jade uses Gazebo 5 which is the default version of Gazebo and is recommended. If you would like to instead use a newer version of Gazebo (6 or 7), refer to these instructions on the Gazebo site. Note that installing a newer version of Gazebo will require you to build dependent packages (such as turtlebot_gazebo) to be built from source. See also Using a specific Gazebo version with ROS. 

    • sudo apt-get install ros-jade-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-jade-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-jade-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-jade-PACKAGE
      e.g.
      sudo apt-get install ros-jade-slam-gmapping

To find available packages, use: 

  • apt-cache search ros-jade

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. 

  • sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, you can type: 

source /opt/ros/jade/setup.bash

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

To install this tool on Ubuntu, run: 

  • sudo apt-get install python-rosinstall

Build farm status

The packages that you installed were built by ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Obtain source code of the installed packages

If you know the location of the repository of each package, you know you can obtain all the code there. But it's often hard even for experienced developers to reach the correct maintained repository of certain packages. Also, in some situations you just want to get the source of the released, installed version of a package. The methods described here the best for these cases.

  • In earlier days of ROS (supposedly electric or earlier) you can obtain by the way noted in this question.

  • Now just apt-get source (sudo not needed) as following. You don't even need to explicitly specify deb-src entry etc. This downloads from the server all the files in the released version of the package (i.e. things not installed in the installation rule (e.g. CMakeLists.txt) are also included). 

$ apt-get source ros-jade-laser-pipeline

A drawback might be that you have to specify a single, exact package name (asterisks do not work).

CategoryCategory

Ubuntu install of ROS Kinetic

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu. Note that there are also packages available from Ubuntu upstream. Please see UpstreamPackages to understand the difference.

Ubuntu packages are built for the following distros and architectures.

Distro

amd64

i386

armhf

Wily

X

X

Xenial

X

X

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Kinetic
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
      6. Dependencies for building packages
      7. Build farm status
    2. Tutorials

Installation

ROS Kinetic ONLY supports Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8) for debian packages.

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned above ros-shadow-fixed

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-kinetic-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-kinetic-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-kinetic-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-kinetic-PACKAGE
      e.g.
      sudo apt-get install ros-kinetic-slam-gmapping

To find available packages, use: 

apt-cache search ros-kinetic

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type: 

source /opt/ros/kinetic/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell: 

echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run: 

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows. 

sudo apt install python-rosdep

With the following, you can initialize rosdep. 

sudo rosdep init
rosdep update

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of ROS Lunar

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu. Note that there are also packages available from Ubuntu upstream. Please see UpstreamPackages to understand the difference.

Ubuntu packages are built for the following distros and architectures.

Distro

amd64

arm64

armhf

Xenial

X

X

X

Yakkety

X

Zesty

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Lunar
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Initialize rosdep
      6. Environment setup
      7. Dependencies for building packages
      8. Build farm status
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt-get update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned above ros-shadow-fixed

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception 

    • sudo apt-get install ros-lunar-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt-get install ros-lunar-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt-get install ros-lunar-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt-get install ros-lunar-PACKAGE
      e.g.
      sudo apt-get install ros-lunar-slam-gmapping

To find available packages, use: 

apt-cache search ros-lunar

Initialize rosdep

Before you can use ROS, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. 

sudo rosdep init
rosdep update

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type: 

source /opt/ros/lunar/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell: 

echo "source /opt/ros/lunar/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run: 

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows. 

sudo apt install python-rosdep

With the following, you can initialize rosdep. 

sudo rosdep init
rosdep update

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of ROS Melodic

We are building Debian packages for several Ubuntu platforms, listed below. These packages are more efficient than source-based builds and are our preferred installation method for Ubuntu. Note that there are also packages available from Ubuntu upstream. Please see UpstreamPackages to understand the difference.

Ubuntu packages are built for the following distros and architectures.

Distro

amd64

arm64

armhf

Artful

X

Bionic

X

X

X

If you need to install from source (not recommended), please see source (download-and-compile) installation instructions.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Melodic
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
      6. Dependencies for building packages
      7. Build farm status
    2. Tutorials

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt update

There are many different libraries and tools in ROS. We provided four default configurations to get you started. You can also install ROS packages individually.

In case of problems with the next step, you can use following repositories instead of the ones mentioned above ros-shadow-fixed

  • Desktop-Full Install: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators and 2D/3D perception 

    • sudo apt install ros-melodic-desktop-full

      or click here

    Desktop Install: ROS, rqt, rviz, and robot-generic libraries 

    • sudo apt install ros-melodic-desktop

      or click here

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 

    • sudo apt install ros-melodic-ros-base

      or click here

    Individual Package: You can also install a specific ROS package (replace underscores with dashes of the package name): 

    • sudo apt install ros-melodic-PACKAGE
      e.g.
      sudo apt install ros-melodic-slam-gmapping

To find available packages, use: 

apt search ros-melodic

Environment setup

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched: 

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

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.

If you just want to change the environment of your current shell, instead of the above you can type: 

source /opt/ros/melodic/setup.bash

If you use zsh instead of bash you need to run the following commands to set up your shell: 

echo "source /opt/ros/melodic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run: 

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows. 

sudo apt install python-rosdep

With the following, you can initialize rosdep. 

sudo rosdep init
rosdep update

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

Ubuntu install of ROS Noetic

The ROS build farm builds Debian packages for several Ubuntu platforms, listed below. These packages are ready to use so you don't have to build from source. You can check the status of individual packages here.

Note that there are also packages available from Ubuntu upstream. Please see UpstreamPackages to understand the difference.

If you rely on these packages, please support OSRF.

These packages are built and hosted on infrastructure maintained and paid for by the Open Source Robotics Foundation, a 501(c)(3) non-profit organization. If OSRF were to receive one penny for each downloaded package for just two months, we could cover our annual costs to manage, update, and host all of our online services. Please consider donating to OSRF today.

Contents

  1. Ubuntu install of ROS Noetic
    1. Installation
      1. Configure your Ubuntu repositories
      2. Setup your sources.list
      3. Set up your keys
      4. Installation
      5. Environment setup
      6. Dependencies for building packages
    2. Tutorials
    3. ROS One-line Installation

Installation

Configure your Ubuntu repositories

Configure your Ubuntu repositories to allow "restricted," "universe," and "multiverse." You can follow the Ubuntu guide for instructions on doing this.

Setup your sources.list

Setup your computer to accept software from packages.ros.org. 

  • sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Mirrors

Source Debs are also available

Set up your keys

  • sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation

First, make sure your Debian package index is up-to-date: 

  • sudo apt update

Now pick how much of ROS you would like to install.

  • Desktop-Full Install: (Recommended) : Everything in Desktop plus 2D/3D simulators and 2D/3D perception packages 

    • sudo apt install ros-noetic-desktop-full

      or click here

    Desktop Install: Everything in ROS-Base plus tools like rqt and rviz

    ROS-Base: (Bare Bones) ROS packaging, build, and communication libraries. No GUI tools. 

    • sudo apt install ros-noetic-ros-base

      or click here

There are even more packages available in ROS. You can always install a specific package directly. 

  • sudo apt install ros-noetic-PACKAGE
    e.g.
    sudo apt install ros-noetic-slam-gmapping

To find available packages, see ROS Index or use: 

apt search ros-noetic

Environment setup

You must source this script in every bash terminal you use ROS in. 

source /opt/ros/noetic/setup.bash

It can be convenient to automatically source this script every time a new shell is launched. These commands will do that for you.

Bash

If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using. 

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

zsh 

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

Dependencies for building packages

Up to now you have installed what you need to run the core ROS packages. To create and manage your own ROS workspaces, there are various tools and requirements that are distributed separately. For example, rosinstall is a frequently used command-line tool that enables you to easily download many source trees for ROS packages with one command.

To install this tool and other dependencies for building ROS packages, run: 

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

Initialize rosdep

Before you can use many ROS tools, you will need to initialize rosdep. rosdep enables you to easily install system dependencies for source you want to compile and is required to run some core components in ROS. If you have not yet installed rosdep, do so as follows. 

sudo apt install python3-rosdep

With the following, you can initialize rosdep. 

sudo rosdep init
rosdep update

Tutorials

Now, to test your installation, please proceed to the ROS Tutorials.

ROS One-line Installation

Check out this tutorial to install ROS Noetic using a single command.

2024-12-21 13:03