2. Installing Humble in ROS2

• The ROS2-Humble installation supports Ubuntu 22.04.
• If you need to install a different version of ROS2, simply replace the humble version identifier in the installation command with the corresponding version. This applies to all other ROS-specific software in the ROS2 tutorial series and will not be covered in subsequent tutorials.

1. Set the locale

First, check whether the locale supports UTF-8 encoding. You can run the following command to check and set the UTF-8 encoding.

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locale # Check for UTF-8 support
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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 the configuration is successful
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Note: The locale can be different, but must support UTF-8 encoding.

2. Set up the software source

Start 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 the system and authorize our GPG key with 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 the 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 Humble

First, update the apt repository cache:

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sudo apt Update

Then upgrade the installed software (ROS2 packages are built on the 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 ROS2 (recommended), which includes ROS, RViz, examples, and tutorials. The installation command is as follows. If you need to install a different version, replace "humble" in the command with the corresponding version number:

 Introduction to ROS2
ROS2 development environment