Install ros2 humble(deb packages) in ubuntu 20.04 focal

General
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1

Officially, ubuntu 22.04 is the tier1 platform for ros2 humble.

But nvidia isaac-ros team has migrated the version to ubuntu 20.04(for their jetson devices), which makes ros2 foxy, galactic and humble available in apt-get in one platform. This supports both amd64 and aarch64, only in ubuntu20.04.

Just sharing this rarely known info

# add isaac-ros repo
wget -qO - https://isaac.download.nvidia.com/isaac-ros/repos.key | sudo apt-key add -
echo "deb [arch=$(dpkg --print-architecture)] https://isaac.download.nvidia.com/isaac-ros/ubuntu/main $(lsb_release -cs) main" | sudo tee -a /etc/apt/sources.list

# add ros2 repo
sudo apt update && 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
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

# install ros2
sudo apt-get update
sudo apt install ros-humble-desktop
sudo apt install ros-humble-ros-base
sudo apt install ros-dev-tools

# more tests
lsb_release -as
ape-cache search yaml-cpp
ape-cache search isaac-ros
sudo apt install ros-humble-isaac-ros-nitros
4 Likes
2

bro I am using Jetson Nano developer kit 4Gb and having the ubuntu focal image running on it can I install ros2 humble on it , is this what u are telling ??
kindly guide me I am new to these stuff.

3

Yes, you can do it in your jetson devices.

4

i had the ubuntu 20.04 on Jetson Nano developer kit 4gb then install Foxy before moving to humble, but i completely remove the foxy and run these commnads but installing humble faced issues of held broken package one paackage is connected with other one .

So what to do kindly guide

5

or u can share which image u are using of the ubuntu focal