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ROS2 Crystal Clemmys with ROS2 bag on Linux Ubuntu
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ROS2 Crystal Clemmys installation

Installing ROS2 Crystal Clemmys along with ROS bag. You can go through steps or run the If you want base install, comment the Full install line and uncomment the Base install.


  • Linux - Ubuntu 18.04

Getting Started

  • Make sure to set locale to en_US.UTF-8:

      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 the repository to your source list:

      sudo apt update && sudo apt install curl gnupg2 lsb-release 
      curl | sudo apt-key add -
      sudo sh -c 'echo "deb [arch=amd64,arm64] `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
  • Set the ROS distribution name that you want to install, in this case is crystal and install it (choose between full install or base install):

      export CHOOSE_ROS_DISTRO=crystal  # or bouncy or ardent
      sudo apt update
      sudo apt install ros-$CHOOSE_ROS_DISTRO-desktop          # Full install
      #sudo apt install ros-$CHOOSE_ROS_DISTRO-ros-base        # Base install

If you want to use ROS2 bag consider the following steps, otherwise you can skip them and jump to step 4. ROS2 bag is using ros1_bridge but it is not included in the ROS2 installation of crystal, so we should first add the related repository to our source list:

sudo sh -c 'echo "deb $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp:// --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-$CHOOSE_ROS_DISTRO-ros1-bridge 
  • The ROS CLI use argcomplition, so install it:

      sudo apt install python3-argcomplete 
  • In order to use ROS commands in terminal we need to source the overlay workspace in our .bashrc:

      source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash
      echo "source /opt/ros/$CHOOSE_ROS_DISTRO/setup.bash" >> ~/.bashrc
      echo "export CHOOSE_ROS_DISTRO=crystal" >> ~/.bashrc
  • Install RMW implementation (FastRTPS):

      sudo apt update
      sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-opensplice-cpp   # for OpenSplice
      sudo apt install ros-$CHOOSE_ROS_DISTRO-rmw-connext-cpp      # for RTI Connext (requires license agreement)
  • In this step ROS2 bag will be installed, more information about it can be found here.

      export CHOOSE_ROS_DISTRO=crystal # rosbag2 is available starting from crystal
      sudo apt-get install ros-$CHOOSE_ROS_DISTRO-ros2bag* ros-$CHOOSE_ROS_DISTRO-rosbag2* 
  • Installing build system for ROS2 (Colcon):

      sudo apt install python3-colcon-common-extensions
  • Reboot

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