警告

您正在閱讀已達到生命週期結束（end-of-life，EOL）版本的 ROS 2 文件，該版本不再正式受支援。如果您想獲取最新資訊，請參見 Kilted。

RHEL (RPM packages)

RPM packages for ROS 2 Rolling Ridley are currently available for RHEL 9. The target platforms are defined in REP 2000.

資源

System setup

Set locale

Make sure you have a locale which supports UTF-8. If you are in a minimal environment (such as a docker container), the locale may be something minimal like C. We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.

locale  # check for UTF-8

sudo dnf install langpacks-en glibc-langpack-en
export LANG=en_US.UTF-8

locale  # verify settings

Enable required repositories

You will need to enable the EPEL repositories and the PowerTools repository:

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

備註

This step may be slightly different depending on the distribution you are using. Check the EPEL documentation: https://docs.fedoraproject.org/en-US/epel/#_quickstart

Next, download the ROS 2 .repo file:

sudo dnf install curl
sudo curl --output /etc/yum.repos.d/ros2.repo http://packages.ros.org/ros2/rhel/ros2.repo

Then, update your metadata cache. DNF may prompt you to verify the GPG key, which should match the location https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc.

sudo dnf makecache

安裝開發工具（可選）

If you are going to build ROS packages or otherwise do development, you can also install the development tools:

sudo dnf install -y \
  cmake \
  gcc-c++ \
  git \
  make \
  patch \
  python3-colcon-common-extensions \
  python3-flake8-builtins \
  python3-flake8-comprehensions \
  python3-flake8-docstrings \
  python3-flake8-import-order \
  python3-flake8-quotes \
  python3-mypy \
  python3-pip \
  python3-pydocstyle \
  python3-pytest \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

# install some pip packages needed for testing and
# not available as RPMs
python3 -m pip install -U --user \
  flake8-blind-except==0.1.1 \
  flake8-class-newline \
  flake8-deprecated

安裝 ROS 2

ROS 2 packages are built on frequently updated RHEL systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo dnf update

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

sudo dnf install ros-rolling-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

sudo dnf install ros-rolling-ros-base

Install additional RMW implementations (optional)

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

Setup environment

Set up your environment by sourcing the following file.

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/rolling/setup.bash

嘗試一些範例

If you installed ros-rolling-desktop above you can try some examples.

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

source /opt/ros/rolling/setup.bash
ros2 run demo_nodes_cpp talker

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

source /opt/ros/rolling/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!

下一步

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

疑難排解

可以在這裡找到疑難排解技術。

解除安裝

If you need to uninstall ROS 2 or switch to a source-based install once you have already installed from binaries, run the following command:

sudo dnf remove ros-rolling-*