.. redirect-from::

   Installation/Linux-Install-Debians
   Installation/Ubuntu-Install-Debians

Ubuntu (deb packages)
=====================

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

Deb packages for ROS 2 {DISTRO_TITLE_FULL} are currently available for Ubuntu Jammy (22.04).
The target platforms are defined in `REP 2000 <https://reps.openrobotics.org/rep-2000/>`__.

Resources
---------

* Status Page:

  * ROS 2 {DISTRO_TITLE} (Ubuntu Jammy): `amd64 <http://repo.ros2.org/status_page/ros_{DISTRO}_default.html>`__\ , `arm64 <http://repo.ros2.org/status_page/ros_{DISTRO}_ujv8.html>`__
* `Jenkins Instance <http://build.ros2.org/>`__
* `Repositories <http://repo.ros2.org>`__


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

.. include:: _Ubuntu-Set-Locale.rst

.. _linux-install-debians-setup-sources:

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

.. include:: _Apt-Repositories.rst

.. _linux-install-debs-install-ros-2-packages:

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

Update your apt repository caches after setting up the repositories.

.. code-block:: console

   $ sudo apt update

.. include:: _Apt-Upgrade-Admonition.rst

.. warning::

   Due to early updates in Ubuntu 22.04 it is important that ``systemd`` and ``udev``-related packages are updated before installing ROS 2.
   The installation of ROS 2's dependencies on a freshly installed system without upgrading can trigger the **removal of critical system packages**.

   Please refer to `ros2/ros2#1272 <https://github.com/ros2/ros2/issues/1272>`_ and `Launchpad #1974196 <https://bugs.launchpad.net/ubuntu/+source/systemd/+bug/1974196>`_ for more information.

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

.. code-block:: console

   $ sudo apt install ros-{DISTRO}-desktop

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

.. code-block:: console

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

Development tools: Compilers and other tools to build ROS packages

.. code-block:: console

   $ sudo apt install ros-dev-tools

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 bash.
   Possible values are: ``setup.bash``, ``setup.sh``, ``setup.zsh``.

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

Talker-listener
^^^^^^^^^^^^^^^

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.

Using the ROS 1 bridge
----------------------
The ROS 1 bridge can connect topics from ROS 1 to ROS 2 and vice-versa.
See the dedicated `documentation <https://github.com/ros2/ros1_bridge/blob/master/README.md>`__ on how to build and use the ROS 1 bridge.

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 apt remove ~nros-{DISTRO}-* && sudo apt autoremove

You may also want to remove the repository:

.. code-block:: console

   $ sudo apt remove ros2-apt-source
   $ sudo apt update
   $ sudo apt autoremove
   $ sudo apt upgrade # Consider upgrading for packages previously shadowed.