RHEL (RPM packages)
===================

.. contents:: Table of Contents
   :depth: 2
   :local:

RPM packages for ROS 2 {DISTRO_TITLE_FULL} are currently available for RHEL 8.
The target platforms are defined in `REP 2000 <https://reps.openrobotics.org/rep-2000/>`__.

Resources
---------

* Status Page:

  * ROS 2 {DISTRO_TITLE} (RHEL 8): `amd64 <http://repo.ros2.org/status_page/ros_{DISTRO}_rhel.html>`__
* `Jenkins Instance <http://build.ros2.org/>`__
* `Repositories <http://repo.ros2.org>`__


Set locale
----------

.. include:: _RHEL-Set-Locale.rst

.. _rhel-install-rpms-setup-sources:

Setup Sources
-------------

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

.. code-block:: console

   $ 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

.. note:: This step may be slightly different depending on the distribution you are using.
          `Check the EPEL documentation <https://docs.fedoraproject.org/en-US/epel/getting-started/>`_

Next, download the ``ros2-release`` package and install it:

.. code-block:: console

   $ 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 <https://github.com/ros-infrastructure/ros-apt-source/>`_ 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.

.. _rhel-install-rpms-install-ros-2-packages:

Install ROS 2 packages
----------------------

.. include:: _Dnf-Update-Admonition.rst

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

.. code-block:: console

   $ sudo dnf install ros-{DISTRO}-desktop

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

.. code-block:: console

   $ sudo dnf install ros-{DISTRO}-ros-base

Environment setup
-----------------

Sourcing the setup script
^^^^^^^^^^^^^^^^^^^^^^^^^

Set up your environment by sourcing the following file.

.. code-block:: console

   $ source /opt/ros/{DISTRO}/setup.bash

.. note::

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

Try some examples
-----------------

If you installed ``ros-{DISTRO}-desktop`` above you can try some examples.

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

.. code-block:: console

   $ source /opt/ros/{DISTRO}/setup.bash
   $ ros2 run demo_nodes_cpp talker

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

.. code-block:: console

   $ source /opt/ros/{DISTRO}/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!

If you want to use other RMW implementations, you can check the :doc:`guide <./RMW-Implementations>`.

Next steps after installing
---------------------------
Continue with the :doc:`tutorials and demos <../Tutorials>` to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.

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 :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.

Troubleshooting
---------------

Troubleshooting techniques can be found :doc:`here <../How-To-Guides/Installation-Troubleshooting>`.

Uninstall
---------

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:

.. code-block:: console

   $ sudo dnf remove ros-{DISTRO}-*

To remove the repository configuration run

.. code-block:: console

   $ sudo dnf remove ros2-release