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
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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

6

Hello @Muhammad_Saad_yaseen , please were you able to figure out how to install ROS2 Humble on Ubuntu 20.04 for the Jetson Nano?

7

There is a isaac ros apt setup you can use. I remember reading it on a thread. Just try searching for it.

8

Hello @Gautham_Pai . Thank you for your response. Please can you help me with the URL to this isaac ros apt setup?

9

Thanks for your question. However we ask that you please ask questions on Robotics Stack Exchange following our support guidelines.

ROS Discourse is for news and general interest discussions. Robotics Stack Exchange provides a Q&A site which can be filtered by tags to make sure the relevant people can find and/or answer the question, and not overload everyone with hundreds of posts.

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