備註

您正在閱讀 ROS 2 的舊版但仍然受支援的文件。對於最新版本的資訊，請參見 Kilted。

RHEL (binary)

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

備註

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.

系統要求

We currently support RHEL 9 64-bit.

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

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 crb

備註

This step may be slightly different depending on the distribution you are using. Check the EPEL documentation

Install 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

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-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

  • Go to the releases page

  • 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

Install dependencies using rosdep

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

$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths ~/ros2_rolling/ros2-linux/share --ignore-src -y --skip-keys "cyclonedds fastcdr fastrtps iceoryx_binding_c rti-connext-dds-6.0.1 urdfdom_headers"

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.

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

備註

Replace .bash with your shell if you’re not using bash. Possible values are: setup.bash, setup.sh, setup.zsh.

嘗試一些範例

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!

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

Troubleshooting techniques can be found here.

解除安裝

  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