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Installing ROS 2 on RHEL

This page explains how to install ROS 2 on RHEL 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.

There are also RPM packages available.

System Requirements

We currently support RHEL 8 64-bit. The Rolling Ridley distribution will change target platforms from time to time as new platforms are selected for development. Most people will want to use a stable ROS distribution.

Enable required repositories

The rosdep database contains packages from the EPEL and PowerTools repositories, which are not enabled by default. They can be enabled by running:

sudo dnf install 'dnf-command(config-manager)' epel-release -y
sudo dnf config-manager --set-enabled powertools

Installing prerequisites

There are a few packages that must be installed in order to get and unpack the binary release.

sudo dnf install tar bzip2 wget -y

Downloading ROS 2

Binary releases of Rolling Ridley are not provided. Instead you may download nightly prerelease binaries.

  • Download the latest package for RHEL; let’s assume that it ends up at ~/Downloads/ros2-package-linux-x86_64.tar.bz2.

    • Note: there may be more than one binary download option which might cause the file name to differ.

  • Unpack it:

    mkdir -p ~/ros2_rolling
cd ~/ros2_rolling
tar xf ~/Downloads/ros2-package-linux-x86_64.tar.bz2

Installing and initializing rosdep

sudo dnf install -y python3-rosdep
sudo rosdep init
rosdep update

Installing the missing dependencies

Set your rosdistro according to the release you downloaded.

rosdep install --from-paths ~/ros2_rolling/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps ignition-cmake2 ignition-math6 rti-connext-dds-5.3.1 urdfdom_headers pydocstyle python3-mypy python3-babeltrace python3-lttng"

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions here.

Environment setup

Sourcing the setup script

Set up your environment by sourcing the following file.

. ~/ros2_rolling/ros2-linux/setup.bash

Try some examples

In one terminal, source the setup file and then run a C++ talker:

. ~/ros2_rolling/ros2-linux/setup.bash
ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

. ~/ros2_rolling/ros2-linux/setup.bash
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!

Next steps after installing

Continue with the tutorials and demos to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.

Additional RMW implementations (optional)

The default middleware that ROS 2 uses is Cyclone DDS, but the middleware (RMW) can be replaced at runtime. See the guide on how to work with multiple RMWs.

Troubleshooting

Troubleshooting techniques can be found here.

Uninstall

  1. 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 Rolling install on your system.

  2. If you’re also trying to free up space, you can delete the entire workspace directory with:

    rm -rf ~/ros2_rolling