備註

您正在閱讀開發版本的文件。對於最新發行的版本，請參見 Kilted。

RHEL (RPM packages)

RPM packages for ROS 2 Rolling Ridley are currently available for RHEL 9. The Rolling Ridley distribution will change target platforms from time to time as new platforms are selected for development. The target platforms are defined in REP 2000. Most people will want to use a stable ROS distribution.

Resources

• Status Page:

  • ROS 2 Rolling (RHEL 9): amd64

• Jenkins Instance

• Repositories

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 -y https://dl.fedoraproject.org/pub/epel/epel-release-latest-$(rpm -E %rhel).noarch.rpm
$ sudo env FORCE_DNF=1 crb enable

備註

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

接著，下載 ros2-release 軟體包並安裝它：

$ sudo dnf install curl
$ export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
$ sudo dnf install "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-release-${ROS_APT_SOURCE_VERSION}-1.noarch.rpm"

The ros2-release package provides keys and repo configuration for the various ROS repositories. Updates to repository configuration will occur automatically when new versions of this package are released to the ROS repositories.

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-pytest \
  python3-pytest-repeat \
  python3-pytest-rerunfailures \
  python3-rosdep \
  python3-setuptools \
  python3-vcstool \
  wget

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.

$ source /opt/ros/rolling/setup.bash

備註

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

嘗試一些範例

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

First, if you use Zenoh as the RMW implementation, you will require a router for node discovery and communication.

In one terminal, start the Zenoh router daemon:

$ source /opt/ros/rolling/setup.bash
$ ros2 run rmw_zenoh_cpp rmw_zenohd

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

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

In a third 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-*

To remove the repository configuration run

$ sudo dnf remove ros2-release