Setting up a reliable and efficient ROS 2 development environment is a key step in any robotics or automation project. In our previous post, we covered how to:

  • Update a fresh Ubuntu installation.
  • Create and configure a dedicated ROS 2 user.
  • Prepare the system for installing ROS 2.

Now, we’ll continue that journey by walking through the ros2_install.sh script. This script automates the installation of ROS 2 base components and supporting tools to streamline your development setup.

✅ Note: These steps are tailored for Ubuntu 24.04 (Noble Numbat) systems.

📚 Table of Contents

  1. Overview of the ros2_install.sh Script
  2. Step-by-Step Breakdown
  3. Next Steps
  4. SEO Tags

Overview of the ros2_install.sh Script

The ros2_install.sh script is designed to automate the key steps needed to install ROS 2 on a clean Ubuntu system. It handles:

  • Installing all necessary system dependencies.
  • Adding the official ROS 2 package repository and its GPG key.
  • Installing core ROS 2 packages along with useful developer tools.
  • Initializing rosdep, which handles ROS dependency management.

This script greatly simplifies what would otherwise be a tedious manual installation process.

Step-by-Step Breakdown

Installing Prerequisite Packages 

apt install -y curl gnupg2 lsb-release software-properties-common

This command installs essential tools needed to add third-party APT repositories:

  • curl: Downloads content from URLs (used to retrieve the GPG key).
  • gnupg2: Manages GPG keys to verify repository authenticity.
  • lsb-release: Outputs distribution codename (e.g., focal, jammy) for dynamic configuration.
  • software-properties-common: Allows managing additional APT sources.

Adding the ROS 2 Repository

Import the GPG Key: 

curl -sSL "$ROS_KEY_URL" -o /etc/apt/trusted.gpg.d/ros.asc

This command downloads the ROS 2 repository's public GPG key and stores it in the system’s trusted keyring, ensuring secure installation of ROS packages.

Add the Repository: 

echo "deb [arch=amd64 signed-by=/etc/apt/trusted.gpg.d/ros.asc] $ROS_REPO_URL $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2.list

This command adds the ROS 2 repository to the system’s APT sources. It automatically uses the appropriate Ubuntu codename (e.g., jammy) to ensure compatibility.

Update APT Cache: 

apt update

This refreshes the package index so the newly added ROS 2 repository is recognized.

Installing ROS 2 Base and Tools 

apt install -y ros-$ROS_DISTRO-ros-base python3-rosdep python3-colcon-common-extensions python3-argcomplete colcon

This installs the ROS 2 base system and essential development tools:

  • ros-$ROS_DISTRO-ros-base: The minimal installation of ROS 2.
  • python3-rosdep: Tool to resolve and install ROS package dependencies.
  • colcon, python3-colcon-common-extensions: ROS 2’s recommended build system.
  • python3-argcomplete: Adds command-line autocompletion for ROS CLI tools.

Initializing rosdep

One-Time Initialization (if needed): 

[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || rosdep init

This checks whether rosdep has already been initialized. If not, it runs the initialization process.

Update rosdep Definitions: 

rosdep update

Downloads the latest package dependency definitions so that rosdep can install required system packages for ROS nodes.

Setting Up the ROS 2 Environment

Source the Environment Manually: 

source /opt/ros//setup.bash

This sets up necessary environment variables (like ROS_PACKAGE_PATH) for ROS 2 in the current terminal session.

Make it Persistent for a User: 

grep -q "source /opt/ros/$ROS_DISTRO/setup.bash" /home/$ROS_USER/.bashrc \
|| echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /home/$ROS_USER/.bashrc

This command ensures the ROS 2 environment is automatically sourced every time the user opens a new terminal. It checks for an existing entry to avoid duplicates.

Next Steps

At this point, your system should be fully prepared for ROS 2 development. Here’s what we’ve achieved so far:

  • A freshly installed and updated Ubuntu system.
  • A dedicated user account configured for ROS 2.
  • ROS 2 base system and build tools installed and ready to use.

See code here

In the next post, we’ll focus on securing the ROS 2 environment using AppArmor and Auditd, adding an extra layer of protection to your robotics platform.

If you have questions, suggestions, or topics you’d love to see covered, drop a comment below. Let’s make robotics not just exciting and innovative—but secure as well.

For more content like this, tools, and walkthroughs, visit my site at Sebos Technology.