Estás leyendo la documentación para una versión de ROS 2 que ha llegado a su EOL (fin-de-vida), y oficialmente ya no cuenta con soporte. Si deseas información actualizada, por favor revisa Humble.
RHEL (RPM)
Table of Contents
RPM packages for ROS 2 Galactic Geochelone are currently available for RHEL 8. The target platforms are defined in REP 2000
Set locale
Make sure you have a locale which supports UTF-8.
If you are in a minimal environment (such as a docker container), the locale may be something minimal like C.
We test with the following settings. However, it should be fine if you’re using a different UTF-8 supported locale.
locale # check for UTF-8
sudo dnf install langpacks-en glibc-langpack-en
export LANG=en_US.UTF-8
locale # verify settings
Setup Sources
You will need to enable the EPEL repositories and the PowerTools repository:
sudo dnf install 'dnf-command(config-manager)' epel-release -y
sudo dnf config-manager --set-enabled powertools
Nota
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:
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.
sudo dnf makecache
Install ROS 2 packages
ROS 2 packages are built on frequently updated RHEL systems. It is always recommended that you ensure your system is up to date before installing new packages.
sudo dnf update
Desktop Install (Recommended): ROS, RViz, demos, tutorials.
sudo dnf install ros-galactic-desktop
ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.
sudo dnf install ros-galactic-ros-base
Environment setup
Sourcing the setup script
Set up your environment by sourcing the following file.
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/galactic/setup.bash
Try some examples
If you installed ros-galactic-desktop above you can try some examples.
In one terminal, source the setup file and then run a C++ talker:
source /opt/ros/galactic/setup.bash
ros2 run demo_nodes_cpp talker
In another terminal source the setup file and then run a Python listener:
source /opt/ros/galactic/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 tutorials and demos 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 Cyclone DDS, but the middleware (RMW) can be replaced at runtime.
See the guide on how to work with multiple RMWs.
Troubleshooting
Troubleshooting techniques can be found here.