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In this tutorial, we’ll look at how to install ROS2 on a Linux machine, in particular a Raspberry Pi 4 running Ubuntu. ROS2 is an interesting framework to tackle when working on embedded systems such as robots.


  • Computer with Internet access
  • 32GB SD card
  • Raspberry Pi+HDMI display+keyboard

This tutorial can be followed for other Linux machines

Ubuntu download and SD card configuration

We’ll look at how to configure the SD card to install ROS2 (Iron Irwini) on Raspberry Pi. This version of ROS2 is compatible with Ubuntu Jammy.

To do this, download the Ubuntu image (Jammy jellyfish) or select the OS under Raspberry Pi Imager > General OS > Ubuntu > Ubuntu Desktop 22.04.3 LTS (64bits)

N.B.: you can find the version compatibility between ROS and OS and the Ubuntu version names to check that you’re installing the right versions. Select the 64bit version for best support (tier1)

Install the OS image using Raspberry Pi Imager on the SD card

Once the image has been written to the SD card, you can insert it into the Raspberry Pi and power it up.

You can then follow the configuration instructions on the Raspberry Pi screen.

Setting up a remote connection

If you wish, you can configure the remote connection on Raspberry Pi. This step is optional, but may make life easier for you when developing on ROS2 on Raspberry Pi.

N.B.: on Ubuntu, to connect remotely withort a monitor, you need to modify the file


Installing ROS2

To install ROS2, you must first check that the Universe repository download is enabled. In Software & Updates > Ubuntu Software

Then add the GPG key for ROS2

sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to the list of sources (/etc/source.list.d)

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

For development, you can install the dev tools

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

Finally, you can install ROS2, depending on the version you’ve chosen (desktop or base).

sudo apt install ros-iron-desktop


sudo apt install ros-iron-ros-base

Uninstall ROS2

To uninstall, you need to remove the package and the repository

sudo apt remove ~nros-iron-* && sudo apt autoremove
sudo rm /etc/apt/sources.list.d/ros2.list
sudo apt update

First step with ROS2

Once ROS2 has been installed, you can load the environment with

source /opt/ros/iron/setup.bash

You can test the installation using the talker/listener example

In a terminal, launch the talker

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

In a second terminal, launch the listener

source /opt/ros/iron/setup.bash
ros2 run demo_nodes_py listener

To check the list of environment variables

printenv | grep -i ROS

To get the list of objects in execution, you can use the commands

ros2 node list
ros2 topic list
ros2 service list
ros2 action list

Installing TurtleSim

A great tool for learning and understanding how ROS2 works is TurtleSim

Check its installation using the command

ros2 pkg executables turtlesim

If this is not the case, you can install turtlesim using the command

sudo apt install ros-iron-turtlesim

In a terminal launch turtle sim

ros2 run turtlesim turtlesim_node

In another terminal, launch keyboard control

ros2 run turtlesim turtle_teleop_key

To observe what’s going on, in a third terminal, spy on the topic with the command

ros2 topic echo /turtle1/pose

You can find the list of available topics using the command

ros2 topic list



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