You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Galactic.

Installing ROS 2 on Windows

Table of Contents

This page explains how to install ROS 2 on Windows from a pre-built binary package.

注解

The pre-built binary does not include all ROS 2 packages. All packages in the ROS base variant are included, and only a subset of packages in the ROS desktop variant are included. The exact list of packages are described by the repositories listed in this ros2.repos file.

System requirements 

Only Windows 10 is supported.

Installing prerequisites 

Install Chocolatey 

Chocolatey is a package manager for Windows, install it by following their installation instructions:

https://chocolatey.org/

You’ll use Chocolatey to install some other developer tools.

Install Python 

Open a Command Prompt and type the following to install Python via Chocolatey:

choco install -y python --version 3.8.3

ROS 2 expects the python installation to be available in directory C:\python38. Double check that it is installed there.

Install Visual C++ Redistributables 

Open a Command Prompt and type the following to install them via Chocolatey:

choco install -y vcredist2013 vcredist140

Install OpenSSL 

Download the Win64 OpenSSL v1.1.1L OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.1.1L. Don’t download the Win32 or Light versions.

Run the installer with default parameters, as the following commands assume you used the default installation directory.

This command sets an environment variable that persists over sessions:

setx -m OPENSSL_CONF "C:\Program Files\OpenSSL-Win64\bin\openssl.cfg"

You will also need to append the OpenSSL-Win64 bin folder to your PATH. You can do this by clicking the Windows icon, typing “Environment Variables”, then clicking on “Edit the system environment variables”. In the resulting dialog, click “Environment Variables”, then click “Path” on the bottom pane, finally click “Edit” and add the path below.

C:\Program Files\OpenSSL-Win64\bin\

Install Visual Studio 

Install Visual Studio 2019.

If you already have a paid version of Visual Studio 2019 (Professional, Enterprise), skip this step.

Microsoft provides a free of charge version of Visual Studio 2019, named Community, which can be used to build applications that use ROS 2. You can download the installer directly through this link.

Make sure that the Visual C++ features are installed.

An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.

Make sure that no C++ CMake tools are installed by unselecting them in the list of components to be installed.

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, eProsima’s Fast RTPS, you can find instructions here.

Install OpenCV 

Some of the examples require OpenCV to be installed.

You can download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .

Assuming you unpacked it to C:\opencv, type the following on a Command Prompt (requires Admin privileges):

setx -m OpenCV_DIR C:\opencv

Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend the PATH variable to C:\opencv\x64\vc16\bin.

Install dependencies 

There are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.

As some chocolatey packages rely on it, we start by installing CMake

choco install -y cmake

You will need to append the CMake bin folder C:\Program Files\CMake\bin to your PATH.

Please download these packages from this GitHub repository.

asio.1.12.1.nupkg
bullet.2.89.0.nupkg
cunit.2.1.3.nupkg
eigen-3.3.4.nupkg
tinyxml-usestl.2.6.2.nupkg
tinyxml2.6.0.0.nupkg
log4cxx.0.10.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

choco install -y -s <PATH\TO\DOWNLOADS> asio cunit eigen tinyxml-usestl tinyxml2 log4cxx bullet

Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.

You must also install some python dependencies for command-line tools:

python -m pip install -U catkin_pkg cryptography empy ifcfg lark-parser lxml netifaces numpy opencv-python pyparsing pyyaml setuptools rosdistro

RQt dependencies

python -m pip install -U pydot PyQt5

To run rqt_graph, you’ll need Graphviz.

choco install graphviz

You will need to append the Graphviz bin folder C:\Program Files (x86)\GraphvizX.XX\bin to your PATH, by navigating to “Edit the system environment variables” as described above.

Downloading ROS 2 

Go the releases page: https://github.com/ros2/ros2/releases
Download the latest package for Windows, e.g., ros2-foxy-*-windows-AMD64.zip.

注解

There may be more than one binary download option which might cause the file name to differ.

注解

To download the ROS 2 debug libraries you’ll need to download ros2-foxy-*-windows-debug-AMD64.zip

Unpack the zip file somewhere (we’ll assume C:\dev\ros2_foxy).

Environment setup 

Start a command shell and source the ROS 2 setup file to set up the workspace:

call C:\dev\ros2_foxy\local_setup.bat

It is normal that the previous command, if nothing else went wrong, outputs “The system cannot find the path specified.” exactly once.

Try some examples 

In a command shell, set up the ROS 2 environment as described above and then run a C++ talker:

ros2 run demo_nodes_cpp talker

Start another command shell and run a Python listener:

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!

If you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’s setup file. This way, your environment will behave as though there is no Foxy install on your system.
If you’re also trying to free up space, you can delete the entire workspace directory with:
```
rmdir /s /q \ros2_foxy
```

(Alternative) ROS 2 Build Installation from aka.ms/ros 

https://aka.ms/ros project hosts ROS 2 builds against the release snapshots. This section explains how to install ROS 2 from this channel.

Install ROS 2 builds 

In an administrative command prompt, run the following commands.

mkdir c:\opt\chocolatey
set PYTHONNOUSERSITE=1
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-foxy-desktop -y --execution-timeout=0

Environment setup 

Start an administrative command prompt and source the ROS 2 setup file to set up the workspace:

call C:\opt\ros\foxy\x64\local_setup.bat

Stay up-to-date 

To keep up-to-date with the latest builds, run:

set ChocolateyInstall=c:\opt\chocolatey
choco upgrade all -y --execution-timeout=0

Uninstall 

If you want to completely remove the environment downloaded above, run this command:

rmdir /s /q C:\opt\

Installing ROS 2 on Windows

System requirements 

Installing prerequisites 

Install Chocolatey 

Install Python 

Install Visual C++ Redistributables 

Install OpenSSL 

Install Visual Studio 

Install additional DDS implementations (optional)

Install OpenCV 

Install dependencies 

RQt dependencies

Downloading ROS 2 

Environment setup 

Try some examples 

Next steps after installing 

Using the ROS 1 bridge 

Additional RMW implementations (optional)

Troubleshooting 

Uninstall 

(Alternative) ROS 2 Build Installation from aka.ms/ros 

Install ROS 2 builds 

Environment setup 

Stay up-to-date 

Uninstall 