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

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

RPM packages for ROS 2 {DISTRO_TITLE_FULL} are currently available for RHEL 9.
The target platforms are defined in `REP 2000 <https://ros.org/reps/rep-2000.html>`__.

Resources
---------

* Status Page:

  * ROS 2 {DISTRO_TITLE} (RHEL 9): `amd64 <http://repo.ros2.org/status_page/ros_{DISTRO}_rhel.html>`__
* `Jenkins Instance <http://build.ros2.org/>`__
* `Repositories <http://repo.ros2.org>`__

System setup
------------

Set locale
^^^^^^^^^^

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

Enable required repositories
^^^^^^^^^^^^^^^^^^^^^^^^^^^^

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

.. code-block:: bash

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

.. 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/#_quickstart

Next, download the ROS 2 .repo file:

.. code-block:: bash

   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``.

.. code-block:: bash

   sudo dnf makecache

Install development tools (optional)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

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

.. code-block:: bash

   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

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

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

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

.. code-block:: bash

   sudo dnf install ros-{DISTRO}-desktop

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

.. code-block:: bash

   sudo dnf install ros-{DISTRO}-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 :doc:`guide <../How-To-Guides/Working-with-multiple-RMW-implementations>` on how to work with multiple RMWs.

Setup environment
-----------------

Set up your environment by sourcing the following file.

.. code-block:: bash

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

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:: bash

   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:: bash

   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!

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.

Troubleshoot
------------

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:: bash

   sudo dnf remove ros-{DISTRO}-*