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.

Windows (binary)

This page explains how to install ROS 2 on Windows from a pre-built binary package.

Nota

The pre-built binary does not include all ROS 2 packages. All packages in the ROS base variant are included, and only a subset of packages in the ROS desktop variant are included. The exact list of packages are described by the repositories listed in this ros2.repos file.

System requirements

Only Windows 10 is supported.

Installing prerequisites

Install Chocolatey

Chocolatey is a package manager for Windows, install it by following their installation instructions:

https://chocolatey.org/

You’ll use Chocolatey to install some other developer tools.

Install Python

Open a Command Prompt and type the following to install Python via Chocolatey:

choco install -y python --version 3.8.3

Install Visual C++ Redistributables

Open a Command Prompt and type the following to install them via Chocolatey:

choco install -y vcredist2013 vcredist140

Install OpenSSL

Download the Win64 OpenSSL v1.1.1n OpenSSL installer from this page. Scroll to the bottom of the page and download Win64 OpenSSL v1.1.1n. Don’t download the Win32 or Light versions, or the v3.X.Y installers.

Run the installer with default parameters, as the following commands assume you used the default installation directory.

This command sets an environment variable that persists over sessions:

setx /m OPENSSL_CONF "C:\Program Files\OpenSSL-Win64\bin\openssl.cfg"

You will need to append the OpenSSL-Win64 bin folder to your PATH. You can do this by clicking the Windows icon, typing «Environment Variables», then clicking on «Edit the system environment variables». In the resulting dialog, click «Environment Variables», then click «Path» on the bottom pane, finally click «Edit» and add the path below.

  • C:\Program Files\OpenSSL-Win64\bin\

Install Visual Studio

Install Visual Studio 2019.

If you already have a paid version of Visual Studio 2019 (Professional, Enterprise), skip this step.

Microsoft provides a free of charge version of Visual Studio 2019, named Community, which can be used to build applications that use ROS 2. You can download the installer directly through this link.

Make sure that the Visual C++ features are installed.

An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.

../_images/windows-vs-studio-install.png

Make sure that no C++ CMake tools are installed by unselecting them in the list of components to be installed.

Install OpenCV

Some of the examples require OpenCV to be installed.

You can download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .

Assuming you unpacked it to C:\opencv, type the following on a Command Prompt (requires Admin privileges):

setx /m OpenCV_DIR C:\opencv

Since you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend the PATH variable to C:\opencv\x64\vc16\bin.

Install dependencies

There are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.

As some chocolatey packages rely on it, we start by installing CMake

choco install -y cmake

You will need to append the CMake bin folder C:\Program Files\CMake\bin to your PATH.

Please download these packages from this GitHub repository.

  • asio.1.12.1.nupkg

  • bullet.2.89.0.nupkg

  • cunit.2.1.3.nupkg

  • eigen-3.3.4.nupkg

  • tinyxml-usestl.2.6.2.nupkg

  • tinyxml2.6.0.0.nupkg

  • log4cxx.0.10.0.nupkg

Once these packages are downloaded, open an administrative shell and execute the following command:

choco install -y -s <PATH\TO\DOWNLOADS\> asio cunit eigen tinyxml-usestl tinyxml2 log4cxx bullet

Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.

You must also install some additional python dependencies:

python -m pip install -U catkin_pkg cryptography empy ifcfg importlib-metadata lark-parser lxml matplotlib netifaces numpy opencv-python PyQt5 pip pillow psutil pycairo pydot pyparsing pyyaml rosdistro setuptools

Install Qt5

Download the 5.12.X offline installer from Qt’s website. Run the installer. Make sure to select the MSVC 2017 64-bit component under the Qt -> Qt 5.12.12 tree.

Finally, in an administrator cmd.exe window set these environment variables. The commands below assume you installed it to the default location of C:\Qt.

setx /m Qt5_DIR C:\Qt\Qt5.12.12\5.12.12\msvc2017_64
setx /m QT_QPA_PLATFORM_PLUGIN_PATH C:\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms

Nota

This path might change based on the installed MSVC version, the directory Qt was installed to, and the version of Qt installed.

RQt dependencies

To run rqt_graph you need to download and install Graphviz. The installer will ask if to add graphviz to PATH, choose to either add it to the current user or all users.

Install additional DDS implementations (optional)

If you would like to use another DDS or RTPS vendor besides the default, Eclipse Cyclone DDS, you can find instructions here.

Downloading ROS 2

  • Go to the releases page

  • Download the latest package for Windows, e.g., ros2-package-windows-AMD64.zip.

Nota

There may be more than one binary download option which might cause the file name to differ.

Nota

To install debug libraries for ROS 2, see Extra Stuff for Debug. Then continue on with downloading ros2-package-windows-debug-AMD64.zip.

  • Unpack the zip file somewhere (we’ll assume C:\dev\ros2_galactic).

Environment setup

Start a command shell and source the ROS 2 setup file to set up the workspace:

call C:\dev\ros2_galactic\local_setup.bat

It is normal that the previous command, if nothing else went wrong, outputs «The system cannot find the path specified.» exactly once.

Try some examples

In a command shell, set up the ROS 2 environment as described above and then run a C++ talker:

ros2 run demo_nodes_cpp talker

Start another command shell and run a Python listener:

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.

Uninstall

  1. If you installed your workspace with colcon as instructed above, «uninstalling» could be just a matter of opening a new terminal and not sourcing the workspace’s setup file. This way, your environment will behave as though there is no Galactic install on your system.

  2. If you’re also trying to free up space, you can delete the entire workspace directory with:

    rmdir /s /q \ros2_galactic

Extra Stuff for Debug

To download the ROS 2 debug libraries you’ll need to download ros2-galactic-*-windows-debug-AMD64.zip. Please note that debug libraries require some more additional configuration/setup to work as given below.

Python installation may require modification to enable debugging symbols and debug binaries:

  • Search in windows Search Bar and open Apps and Features.

  • Search for the installed Python version.

  • Click Modify.

    ../_images/python_installation_modify.png

  • Click Next to go to Advanced Options.

    ../_images/python_installation_next.png

  • Make sure Download debugging symbols and Download debug binaries are checked.

    ../_images/python_installation_enable_debug.png

  • Click Install.

(Alternative) ROS 2 Build Installation from aka.ms/ros

https://aka.ms/ros project hosts ROS 2 builds against the release snapshots. This section explains how to install ROS 2 from this channel.

Install ROS 2 builds

In an administrative command prompt, run the following commands.

mkdir c:\opt\chocolatey
set PYTHONNOUSERSITE=1
set ChocolateyInstall=c:\opt\chocolatey
choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
choco upgrade ros-foxy-desktop -y --execution-timeout=0

Environment setup

Start an administrative command prompt and source the ROS 2 setup file to set up the workspace:

call C:\opt\ros\foxy\x64\local_setup.bat

Stay up-to-date

To keep up-to-date with the latest builds, run:

set ChocolateyInstall=c:\opt\chocolatey
choco upgrade all -y --execution-timeout=0

Uninstall

If you want to completely remove the environment downloaded above, run this command:

rmdir /s /q C:\opt\