ROS 2 Jazzy Installation Guide for Ubuntu 24.04 LTS (deb packages)

This repository provides step-by-step instructions to install ROS 2 Jazzy Jalisco from source on Ubuntu 24.04.

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Table of Contents

• Overview
• System Requirements
• System Setup
  • Set Locale
  • Enable Required Repositories
  • Install Development Tools (optional)
• Install ROS 2
• Setup environment
• Try some examples
• Uninstall

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Overview

ROS 2 Jazzy is the officially supported ROS 2 distribution for Ubuntu 24.04 LTS.
This guide provides step-by-step instructions to build and install it from source on Ubuntu 24.04 (Noble).

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System Requirements

• Ubuntu 24.04 (Noble, Tier 1) 64-bit
• Minimum 8 GB RAM recommended
• Internet connection
• sudo privileges

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System Setup

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 'POSIX'. 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 support

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

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Enable Required Repositories

You will need to add the ROS 2 apt repository to your system.
First ensure that the Ubuntu Universe repository is enabled.

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

The ros-apt-source packages provide keys and apt source configuration for the various ROS repositories.

Installing the ros2-apt-source package will configure ROS 2 repositories for your system. Updates to repository configuration will occur automatically when new versions of this package are released to the ROS repositories.

sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb

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Install Development Tools (optional)

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

sudo apt update && sudo apt install ros-dev-tools

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Install ROS 2

Update your apt repository caches after setting up the repositories.

sudo apt update 

ROS 2 packages are built on frequently updated Ubuntu systems. It is always recommended that you ensure your system is up to date before installing new packages.

sudo apt upgrade

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

sudo apt install ros-jazzy-desktop

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

sudo apt install ros-jazzy-ros-base

Setup environment

Set up your environment by sourcing the following file.

source /opt/ros/jazzy/setup.bash

Try some examples

If you installed ros-jazzy-desktop above you can try some examples.

In one terminal, source the setup file and then run a C++ talker:

source /opt/ros/jazzy/setup.bash
ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

source /opt/ros/jazzy/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!

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:

sudo apt remove ~nros-jazzy-* && sudo apt autoremove

You may also want to remove the repository:

sudo apt remove ros2-apt-source
sudo apt update
sudo apt autoremove
sudo apt upgrade # Consider upgrading for packages previously shadowed.