🚀 ROS 2 Installation Workshop

The ultimate guide to setting up your ROS 2 development environment with awesome simulations!

Welcome Robotics Enthusiasts!

This repository will help you:

Dual Boot your System.
Install ROS 2 quickly and painlessly
Get access to some cool pre-configured simulations
Jumpstart your robotics projects

🛠️ System Requirements

Ubuntu 22.04 (Jammy)
At least 4GB RAM (8GB recommended for simulations)
50GB+ free disk space
Stable internet connection

DUAL BOOT or VM BOX Installation

Choose your adventure:

Option 1: Dual Boot (Windows)

🔹 Better performance (full hardware access)
🔹 Recommended for serious ROS development
Complete Dual Boot Guide

Most of you need to install only LINK this One - 64-bit PC (AMD64) desktop image

Option 2: Virtual Machine (Windows/Mac)

🔹 Safer for beginners (no partitioning)
🔹 Easy to delete if something goes wrong
VM Setup Guide

For Mac M1/M2, you need to install only LINK this one - 64-bit ARM (ARMv8/AArch64) server install image

Pro Tip: Dual boot = for real robotics work!
Warning: Backup your data before dual booting!

Quick Installation of ROS2

ROS 2 Humble Hawksbill (Installation Guide):

Installation Guide for ROS 2

Installation Steps{just copy and paste each command in terminal [for pasting commands in the terminal, press ctrl+shift+v]}

For Ubuntu (Dual-boot or VM)

1. Open Terminal in Ubuntu & Set Locale:

locale  # check for UTF-8
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
locale  # verify settings

2. Setup Sources:

sudo apt install software-properties-common
sudo add-apt-repository universe

Add ROS 2 GPG key with apt:

sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Add the ROS 2 repository:

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. Install ROS 2 packages:

sudo apt update
sudo apt upgrade -y
sudo apt install ros-humble-desktop

4. Install Gazebo Harmonic for ROS 2:

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt update
sudo apt install gz-harmonic

5. Environment Setup:

source /opt/ros/humble/setup.bash
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

ROS 2 - Gazebo Integration

Install Integration Packages

sudo apt update
sudo apt install -y ros-humble-ros-gzharmonic

echo "export GZ_VERSION=harmonic" >> ~/.bashrc
source ~/.bashrc

Open the terminal and write the following cmd:-

sudo apt install python3-colcon-common-extensions

Create and build a Workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
colcon build

Source the Workspace

echo 'source ~/ros2_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Installation Guide for ROS 2 Humble and Gazebo Harmonic on Ubuntu 22.04 (ARM)

This guide provides step-by-step instructions to install ROS 2 Humble and Gazebo Harmonic on an ARM-based Ubuntu 22.04 system, including environment setup and optimizations for ARM architecture.

Initial System Setup

# Update system
sudo apt update
sudo apt upgrade -y

# Install required dependencies
sudo apt install -y software-properties-common build-essential cmake git curl wget gnupg lsb-release

1. ROS 2 Humble Installation

Set Locale

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

Add ROS 2 Repository

sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 Humble

sudo apt update
sudo apt install -y ros-humble-desktop

Setup ROS 2 Environment

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc

Install Development Tools

sudo apt install -y ros-dev-tools python3-colcon-common-extensions python3-rosdep python3-pip
sudo rosdep init
rosdep update

2. Gazebo Harmonic Installation

Add Gazebo Repository

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

Install Gazebo Harmonic

sudo apt update
sudo apt install -y gz-harmonic

Environment Setup for ARM

echo 'export LIBGL_ALWAYS_SOFTWARE=1' >> ~/.bashrc
echo 'export MESA_GL_VERSION_OVERRIDE=3.3' >> ~/.bashrc
echo 'export OGRE_RTT_MODE=Copy' >> ~/.bashrc
source ~/.bashrc

3. ROS 2 - Gazebo Integration

Install Integration Packages

sudo apt update
sudo apt install -y ros-humble-ros-gz-bridge ros-humble-ros-gz-sim ros-humble-ros-gz-interfaces

Create a Workspace

mkdir -p ~/ros_gz_ws/src
cd ~/ros_gz_ws/src

Clone Integration Packages

# Environment variables to optimize compilation on ARM
export ASAN_OPTIONS=detect_leaks=0
export CCACHE_SLOPPINESS=pch_defines,time_macros
export CCACHE_COMPRESS=1
export CCACHE_MAXSIZE=5G

# Build with single thread to avoid memory issues
MAKEFLAGS="-j1" colcon build --symlink-install --packages-select ros_gz_bridge --cmake-args -DCMAKE_CXX_FLAGS="-O1"

# Build other packages
colcon build --symlink-install --packages-skip ros_gz_bridge

Source the Workspace

echo 'source ~/ros_gz_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

Open the terminal and write the following cmd:-

sudo apt install python3-colcon-common-extensions

Check Installation:

Open terminal 1:

ros2 run demo_nodes_cpp talker

Open terminal 2:

ros2 run demo_nodes_py listener

🚀 ROS 2 Humble & Gazebo Harmonic Installation (Mac ARM / Apple Silicon)

This guide provides step-by-step instructions to install ROS 2 Humble and Gazebo Harmonic on M1/M2/M3 Macs using virtualization.

⚠️ CRITICAL ARCHITECTURE WARNING: ROS 2 Humble requires Ubuntu 22.04 LTS. Do not use Ubuntu 24.04. Furthermore, you must use the ARM64 version of Ubuntu, not the AMD64 desktop version.

Part 1: System & UTM Virtual Machine Setup

Download UTM: Get the virtual machine software from mac.getutm.app. (https://www.youtube.com/watch?v=nUhQy5PDj2A&t=1129s)
Download Ubuntu 22.04 ARM Server: Download the Ubuntu 22.04 LTS ARM64 Server ISO from the alternative architectures page on the official Ubuntu website.
Configure UTM:
- Open UTM and click + -> Virtualize -> Linux.
- Browse and select the Ubuntu 22.04 ARM Server ISO.
- RAM: Allocate at least 4096 MB (8GB recommended).
- CPU: Allocate 4 to 8 cores.
- Storage: Allocate at least 64 GB (ROS 2 and Gazebo take up significant space).
Install Ubuntu Server:
- Boot the VM and follow the standard "Try or Install Ubuntu Server" prompts.
- Troubleshooting Note: If the VM hangs on the reboot log after installation finishes, power off the VM, click the CD/DVD dropdown in the UTM settings, select Clear to remove the ISO, and start it again.
Install Graphical Interface (GUI):
- Log into the command line and run:
```
sudo apt update
sudo apt install tasksel
sudo apt install ubuntu-desktop
```
- This will take 20-30 minutes. Once complete, run sudo reboot now.
Enable Retina Resolution & Copy/Paste:
- Log into your new desktop environment, open the terminal, and install the SPICE tools:
```
sudo apt install spice-vdagent spice-webdavd
```
- Shut down the VM. In UTM Settings -> Display, check Retina Mode. Start the VM again.

Part 2: ROS 2 Humble Installation

Open the terminal in your Ubuntu VM and run the following commands sequentially.

1. Initial System Setup

# Update system and install required dependencies
sudo apt update && sudo apt upgrade -y
sudo apt install -y software-properties-common build-essential cmake git curl wget gnupg lsb-release locales

# Set Locale
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

# Add ROS 2 GPG Key and Repository
wget -qO- https://packages.osrfoundation.org/gazebo.gpg | sudo tee /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
git clone https://github.com/gazebosim/ros_gz.git -b humble

# Install ROS 2 Humble Desktop
sudo apt update
sudo apt install -y ros-humble-desktop

# Setup Environment
echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc

# Install Dev Tools & Initialize rosdep
sudo apt install -y ros-dev-tools python3-colcon-common-extensions python3-rosdep python3-pip
sudo rosdep init || true
rosdep update

# Add Gazebo Repository
wget -qO- [https://packages.osrfoundation.org/gazebo.gpg](https://packages.osrfoundation.org/gazebo.gpg) | sudo tee /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] [http://packages.osrfoundation.org/gazebo/ubuntu-stable](http://packages.osrfoundation.org/gazebo/ubuntu-stable) $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null

# Install Gazebo Harmonic
sudo apt update
sudo apt install -y gz-harmonic

# Optimize VM Graphics for ARM MacBooks
echo 'export LIBGL_ALWAYS_SOFTWARE=1' >> ~/.bashrc
echo 'export MESA_GL_VERSION_OVERRIDE=3.3' >> ~/.bashrc
echo 'export OGRE_RTT_MODE=Copy' >> ~/.bashrc
source ~/.bashrc

# Create the workspace
mkdir -p ~/ros_gz_ws/src
cd ~/ros_gz_ws/src

# Clone the proper humble branch for the integration packages
git clone [https://github.com/gazebosim/ros_gz.git](https://github.com/gazebosim/ros_gz.git) -b humble

cd ~/ros_gz_ws

# CRITICAL: Tell the compiler to target Harmonic instead of Fortress
export GZ_VERSION=harmonic

# Set environment variables to prevent the VM from running out of RAM during compilation
export ASAN_OPTIONS=detect_leaks=0
export CCACHE_SLOPPINESS=pch_defines,time_macros
export CCACHE_COMPRESS=1
export CCACHE_MAXSIZE=5G

# Install ROS dependencies for the workspace
rosdep install -r --from-paths src -i -y --rosdistro humble

# Build the workspace (using a single thread to avoid VM freezing/crashing)
MAKEFLAGS="-j1" colcon build --symlink-install --cmake-args -DCMAKE_CXX_FLAGS="-O1"

# Source the newly built bridge
echo 'source ~/ros_gz_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc

For demo in terminal one open this

ros2 run demo_nodes_cpp talker

And in second terminal run this command

ros2 run demo_nodes_py listener

Some simulations

1. Turtlesim (Built-in ROS 2 Simulator)

Turtlesim is a lightweight 2D simulator built into ROS 2. It's the easiest way to verify your installation and learn core ROS 2 concepts like nodes, topics, and services.

Launch Turtlesim:

ros2 run turtlesim turtlesim_node

Control the Turtle (open a new terminal):

ros2 run turtlesim turtle_teleop_key

Use arrow keys to move the turtle around the window.

Draw a circle (open another terminal):

ros2 topic pub /turtle1/cmd_vel geometry_msgs/msg/Twist \
"{linear: {x: 2.0}, angular: {z: 1.8}}"

View active nodes and topics:

#in different terminals
ros2 node list
ros2 topic list

You will learn more about these terms in depth soon.

2. Differential Drive Robot in Gazebo Harmonic

A built-in Gazebo demo of a two-wheeled differential drive robot. No extra packages needed.

Launch the simulation:

gz sim diff_drive.sdf

This opens a Gazebo Harmonic window with a two-wheeled robot ready to drive.

Drive the robot forward (open a new terminal):

gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}"

Turn the robot:

gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "angular: {z: 0.5}"

Drive and turn together:

gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}, angular: {z: 0.5}"

Note: Make sure to play the simulation by clicking the play button on the bottom left in Gazebo.

View active Gazebo topics:

gz topic -l

Note: On Mac, make sure Gazebo Harmonic is installed before running these commands.

Name		Name	Last commit message	Last commit date
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segway_Humble		segway_Humble
LICENSE		LICENSE
README.md		README.md

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🚀 ROS 2 Installation Workshop

Welcome Robotics Enthusiasts!

🛠️ System Requirements

DUAL BOOT or VM BOX Installation

Option 1: Dual Boot (Windows)

Option 2: Virtual Machine (Windows/Mac)

Quick Installation of ROS2

Installation Steps{just copy and paste each command in terminal [for pasting commands in the terminal, press ctrl+shift+v]}

For Ubuntu (Dual-boot or VM)

1. Open Terminal in Ubuntu & Set Locale:

2. Setup Sources:

Add ROS 2 GPG key with apt:

Add the ROS 2 repository:

3. Install ROS 2 packages:

4. Install Gazebo Harmonic for ROS 2:

5. Environment Setup:

ROS 2 - Gazebo Integration

Install Integration Packages

Open the terminal and write the following cmd:-

Create and build a Workspace

Source the Workspace

Installation Guide for ROS 2 Humble and Gazebo Harmonic on Ubuntu 22.04 (ARM)

1. ROS 2 Humble Installation

Set Locale

Add ROS 2 Repository

Install ROS 2 Humble

Setup ROS 2 Environment

Install Development Tools

2. Gazebo Harmonic Installation

Add Gazebo Repository

Install Gazebo Harmonic

Environment Setup for ARM

3. ROS 2 - Gazebo Integration

Install Integration Packages

Create a Workspace

Clone Integration Packages

Source the Workspace

Open the terminal and write the following cmd:-

Check Installation:

Open terminal 1:

Open terminal 2:

🚀 ROS 2 Humble & Gazebo Harmonic Installation (Mac ARM / Apple Silicon)

⚠️ CRITICAL ARCHITECTURE WARNING: ROS 2 Humble requires Ubuntu 22.04 LTS. Do not use Ubuntu 24.04. Furthermore, you must use the ARM64 version of Ubuntu, not the AMD64 desktop version.

Part 1: System & UTM Virtual Machine Setup

Part 2: ROS 2 Humble Installation

1. Initial System Setup

For demo in terminal one open this

And in second terminal run this command

Some simulations

1. Turtlesim (Built-in ROS 2 Simulator)

Launch Turtlesim:

Control the Turtle (open a new terminal):

Draw a circle (open another terminal):

View active nodes and topics:

2. Differential Drive Robot in Gazebo Harmonic

Launch the simulation:

Drive the robot forward (open a new terminal):

Turn the robot:

Drive and turn together:

View active Gazebo topics:

Phew, you made it to the end! Thanks for hangin' in there like a champ

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