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Manually compiling and installing ROS2 on Debian-based systems

How to manually compile and install ROS2 from its source code on Debian-based GNU/Linux distributions. This guide uses Debian 12 Bookworm as the chrooted distribution and requires some experience with GNU/Linux, Debian-based systems administration and shell scripts.

Ubuntu 22.04 is the officially supported distribution for ROS2 Humble. It will be easier to follow our specific guides using compilation scripts instead of doing everything manually:

ROS2 Wiki's approach

As stated in the ROS2 Humble source installation documentation. This approach compiles software that already exists on Debian repositories or that is not relevant to the system.

Due to ROS insisting on using packages from their repositories, even when Debian or Ubuntu builds the same package from the same source, this approach requires uninstalling the native version to allow rosdep to install some renamed dependencies.

This approach is recommended for Ubuntu and its derivatives as long as the distribution codename is correctly replaced on the debootstrap and the ROS2 repositories.

Generating the chroot

debootstrap bookworm ./bookworm-chroot http://deb.debian.org/debian
# Do not bind mount /sys/firmware/efi/efivars
# Do not bind mount /dev
for i in /dev/pts /proc /sys /run; do sudo mount -B $i $(pwd)/bookworm-chroot$i; done
chroot bookworm-chroot

Deactivating the bound mounts

When you leave the chroot, do not forget to unmount the directories that were bind-mounted to it.

for i in /dev/pts /proc /sys /run; do umount $(pwd)/bookworm-chroot$i; done

Compiling

# Tools to download code
apt install git colcon python3-rosdep2 vcstool wget

# ROS repositories where the old python3-vcstool lives
# THIS WILL OVERWRITE ROS-RELATED SYSTEM PACKAGES!
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu bookworm main" > /etc/apt/sources.list.d/ros2.list
apt update

# Common dependencies
apt install python3-flake8-docstrings python3-pip python3-pytest-cov

# Other dependencies
apt install python3-flake8-blind-except python3-flake8-builtins python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-import-order python3-flake8-quotes python3-pytest-repeat python3-pytest-rerunfailures

# Create a workspace and clone all repos
mkdir -p ros2_humble/src
cd ros2_humble
vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src

# Install even more dependencies
# rosdep init
rosdep update

# Broken python3-vcstools (rosdep thinks it is  python3-vcstool)
apt remove vcstool
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"

# Build the code
# Colcon needs pty devices or it will die before compiling anything
# If you're building in a chrooted environment, you must bind mount the required devices
cd ros2_humble/
colcon build

# Source the environment script
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
. ros2_humble/install/local_setup.bash

# Try the examples
. ros2_humble/install/local_setup.bash
ros2 run demo_nodes_cpp talker

. ros2_humble/install/local_setup.bash
ros2 run demo_nodes_py listener

Debian Wiki's approach

Instructions adapted from Debian's Wiki and the current ROS2 LTS release, Humble Hawksbill.

This approach removes unnecessary artifacts from the build phase, as most of them are already compiled in Debian or are not relevant for compiling and installing ROS2 Humble or Rolling in the system.

It is recommended to follow this approach when compiling on Debian 12, although Ubuntu-based distributions newer than 23.04 are likely to have packaged the same dependencies.

Generating the chroot

debootstrap bookworm ./bookworm-chroot-wiki http://deb.debian.org/debian
# Do not bind mount /sys/firmware/efi/efivars
# Do not bind mount /dev
for i in /dev/pts /proc /sys /run; do sudo mount -B $i $(pwd)/bookworm-chroot-wiki$i; done
chroot bookworm-chroot-wiki
# Create softex user with softex as a password
useradd --home-dir '/home/softex' --skel '/etc/skel' --create-home --shell '/bin/bash' softex
chpasswd <<< 'softex:softex'

Deactivating the bound mounts

When you leave the chroot, do not forget to unmount the directories that were bind-mounted to it.

for i in /dev/pts /proc /sys /run; do umount $(pwd)/bookworm-chroot-wiki$i; done

Compiling

# Check UTF-8 support
# as root
if command -v locale > /dev/null; then
    if grep --quiet 'UTF-8' <<< "$(locale)"; then
        echo "UTF-8 locale found"
    else
        echo "No UTF-8 locales found! Installation may FAIL!"
    fi
else
    echo "Please install 'locales' package"
fi

# Tools to download code
# as root
apt install git colcon python3-rosdep2 vcstool wget

# Create a workspace and clone all repos
# as other user
mkdir -p ros2_humble/src
cd /home/softex/ros2_humble
wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
# Remove what is already packaged in Debian
sed -i '/\(ament\|eProsima\|eclipse\|ignition\|osrf\|tango\|urdfdom\|tinyxml_\|loader\|pluginlib\|rcutils\|rcpputils\|test_interface\|testing_tools\|fixture\|rosidl:\)/,+3d' ros2.repos
vcs import src < ros2.repos

# Install even more dependencies
rosdep update
rosdep check --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
printf '#!/bin/bash\n' > ros2-humble-packages.sh
printf 'apt install --yes' >> ros2-humble-packages.sh
perl -ne 'print " $+{package}" if /apt\s(?<package>.+)/' <<< "$(rosdep check --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers" 2>/dev/null)" >> ros2-humble-packages.sh
chmod +x ros2-humble-packages.sh

# as root
cd /home/softex/ros2_humble
./ros2-humble-packages.sh

# Build the code
# Colcon needs pty devices or it will die before compiling anything
# If you're building in a chrooted environment, you must bind mount the required devices
# as other user
cd /home/softex/ros2_humble
rosdep fix-permissions
rosdep update
rosdep check --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
colcon build

# Source the environment script
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
. ros2_humble/install/local_setup.bash

# Try the examples
. ros2_humble/install/local_setup.bash
ros2 run demo_nodes_cpp talker

. ros2_humble/install/local_setup.bash
ros2 run demo_nodes_py listener
Última atualização: 2023-11-25
Criado em: 2023-11-25