Installing ROS2 Jazzy

The following commands will install ROS2 Jazzy on Ubuntu 24.04:

sudo apt-get -y install software-properties-common curl bash

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

sudo apt-get update

sudo apt-get -y install ros-jazzy-desktop-full ros-dev-tools

Using MRS's script

Alternatively, you can use our setup script for adding the ROS PPA:

sudo apt-get -y install software-properties-common curl bash

curl https://ctu-mrs.github.io/ppa2-stable/add_ros_ppa.sh | bash

sudo apt-get -y install ros-jazzy-desktop-full ros-dev-tools

Docker

If you don't want to run ROS natively, you can run it in a container with the VS Code dev containers extension or you can place the following helper function in your ~/.bashrc which will manage permanent containers based on the MRS ROS images.

rosker() {
  local name="${1:-jazzy}"
  local image="ctumrs/ros_${name}:latest"
  [ $# = 0 ] || shift

  # Creates a valid and unique container name
  name="${image##*/}"
  name="${name//:/-}"

  if docker ps -a --format '{{.Names}}' | grep -xq "$name"; then
    if docker ps --format '{{.Names}}' | grep -xq "$name"; then
      docker exec -it "$name" /ros_entrypoint.sh bash -ic "${*:-exec bash}"
    else
      docker start -ai "$name"
    fi
  else
    echo "FROM $image
      RUN userdel ubuntu || true && \
        useradd -u $(id -u) ubuntu && \
        echo 'ubuntu ALL=(ALL) NOPASSWD: ALL' > /etc/sudoers.d/ubuntu
    " | docker build -qt "${image}_modified" - && \

    docker run -it --name "$name" --network=host --privileged \
      -e DISPLAY="${DISPLAY:-:0}" -u ubuntu -w /home/ubuntu \
      -v "$HOME:/home/ubuntu" \
      -v /dev:/dev \
      -v /etc/hosts:/etc/hosts \
      "${image}_modified" bash
  fi
}

It'll give you an interactive terminal no matter what state the container is (started, stopped, non-existent) or run a command if it's running, usage examples:

rosker
rosker jazzy
rosker jazzy ros2 topic list

Note that by default your home directory (and devices) will be available in the container, to avoid issues with ~/.bashrc errors, you can conditionally source things like:

[ -f /home/ubuntu/git/mrs_uav_development/shell_additions/shell_additions.sh ] ||
source ~/git/mrs_uav_development/shell_additions/shell_additions.sh

Which will not source this file if it's located in /home/ubuntu (in the container), if you want to source it only inside the container, you should change || for &&

If you don't already have an MRS ROS image from Docker Hub, you may want to pull one before running rosker because the docker build output is hidden and you won't see any progress while pulling

docker pull ctumrs/ros_jazzy:latest