2. Installing ROS 2 Jazzy

• The corresponding Ubuntu system for ROS 2 Jazzy is version 24.04.
• If you need to install a different version of ROS 2, simply replace the Jazzy version identifier within the relevant installation commands with the specific version you require. This approach applies to all software specific to other ROS versions covered throughout this ROS 2 tutorial series; these instructions will not be repeated in subsequent tutorials. ## 1. Set Locale

Please first check whether your local environment supports UTF-8 encoding. You can use the following commands to check for and set UTF-8 encoding:

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locale  # Check if UTF-8 is supported
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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
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locale  # Verify if the setting was successful

Note: The specific locale settings may vary, but they must support UTF-8 encoding.

2. Set Up Software Sources

Enable the Ubuntu universe repository:

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

Add the ROS 2 APT repository to your system and authorize our GPG key using APT:

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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 your source list:

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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 Jazzy

First, update your APT repository cache:

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sudo apt update

Then, upgrade your installed software (ROS 2 packages are built upon a frequently updated Ubuntu system; please ensure your system is up-to-date before installing new packages):

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sudo apt upgrade

Install the Desktop version of ROS 2 (recommended). This includes: ROS, RViz, examples, and tutorials. The installation command is as follows; if you need to install a different version, replace jazzy in the command below with the corresponding version name:

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sudo apt install ros-jazzy-desktop python3-argcomplete

Install the colcon build tools

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sudo apt install python3-colcon-common-extensions

4. Configure the Environment

• If you are using a different version of ROS 2, replace the jazzy version identifier with the corresponding version—for example, for the humble version, replace jazzy with humble in the commands.

When executing ROS 2 programs in the terminal, you need to run the following command to configure the environment:

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source /opt/ros/jazzy/setup.bash

You must run the command above every time you open a new terminal. Alternatively, you can execute the following command to write the environment configuration instruction to the ~/.bashrc file; this way, you will no longer need to manually configure the environment every time you launch a new terminal.

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

At this point, ROS 2 has been successfully installed and configured.

5. Running Publisher and Subscriber Example Nodes

The ROS 2 Desktop installation comes pre-integrated with several example nodes. We can run these examples to verify whether ROS 2 has been successfully installed.

• Run the publisher node:

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ros2 run demo_nodes_cpp talker

• Run the subscriber node:

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ros2 run demo_nodes_cpp listener

6. Running the Turtlesim Demo

The turtle simulator, turtlesim, is a classic educational tool in ROS. Through turtlesim, users can quickly grasp core concepts within ROS.

• Run the turtle simulator:

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ros2 run turtlesim turtlesim_node

• Run the keyboard teleoperation node:

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ros2 run turtlesim turtle_teleop_key

• View velocity topic data:

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ros2 topic echo /turtle1/cmd_vel

7. Uninstallation

Once ROS 2 has been installed, if you wish to uninstall it, you can execute the following command:

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sudo apt remove ~nros-jazzy-* && sudo apt autoremove

You may also remove the corresponding ROS 2 repositories:

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sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update
sudo apt autoremove