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Apr 26, 2025
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Add $ to Installation #5356

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369ce65
Add $
Nils-ChristianIseke Apr 25, 2025
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christophebedard Apr 26, 2025
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90 changes: 49 additions & 41 deletions source/Installation/Maintaining-a-Source-Checkout.rst
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Expand Up @@ -32,31 +32,35 @@ If you wish to checkout the latest code for ROS 2 {DISTRO_TITLE}, you can get th

.. group-tab:: Linux

.. code-block:: bash
.. code-block:: console

cd ~/ros2_{DISTRO}
mv -i ros2.repos ros2.repos.old
wget https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos
$ cd ~/ros2_{DISTRO}
$ mv -i ros2.repos ros2.repos.old
$ wget https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos

.. group-tab:: macOS

.. code-block:: bash
.. code-block:: console

cd ~/ros2_{DISTRO}
mv -i ros2.repos ros2.repos.old
wget https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos
$ cd ~/ros2_{DISTRO}
$ mv -i ros2.repos ros2.repos.old
$ wget https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos

.. group-tab:: Windows

.. code-block:: bash
Use a Windows comand line interface:

# CMD
cd \dev\ros2_{DISTRO}
curl -sk https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos -o ros2.repos
.. code-block:: console

# PowerShell
cd \dev\ros2_{DISTRO}
curl https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos -o ros2.repos
$ cd \dev\ros2_{DISTRO}
$ curl -sk https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos -o ros2.repos

Or a powershell:

.. code-block:: console

$ cd \dev\ros2_{DISTRO}
$ curl https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos -o ros2.repos


Update your repositories
Expand All @@ -66,9 +70,9 @@ You will notice that in the `ros2.repos <https://raw.githubusercontent.com/ros2/
It is possible that these versions refer to new tags/branches that your local copy of the repositories will not recognize as they are out-of-date.
Because of this, you should update the repositories that you have already checked out with the following command:

.. code-block:: bash
.. code-block:: console

vcs custom --args remote update
$ vcs custom --args remote update

Download the new source code
----------------------------
Expand All @@ -79,38 +83,42 @@ You should now be able to download the sources associated with the new repositor

.. group-tab:: Linux

.. code-block:: bash
.. code-block:: console

vcs import src < ros2.repos
vcs pull src
$ vcs import src < ros2.repos
$ vcs pull src

.. group-tab:: macOS

.. code-block:: bash
.. code-block:: console

vcs import src < ros2.repos
vcs pull src
$ vcs import src < ros2.repos
$ vcs pull src

.. group-tab:: Windows

.. code-block:: bash
In a Windows command line interface:

.. code-block:: console

$ vcs import --input ros2.repos src
$ vcs pull src

Or in powershell:

# CMD
vcs import src < ros2.repos
vcs pull src
.. code-block:: console

# PowerShell
vcs import --input ros2.repos src
vcs pull src
$ vcs import --input ros2.repos src
$ vcs pull src

Rebuild your workspace
----------------------

Now that the workspace is up to date with the latest sources, remove your previous install and rebuild your workspace with, for example:

.. code-block:: bash
.. code-block:: console

colcon build --symlink-install
$ colcon build --symlink-install

Inspect your source checkout
----------------------------
Expand All @@ -122,23 +130,23 @@ If you wish to know the versions of the set of repositories in your workspace, y

.. group-tab:: Linux

.. code-block:: bash
.. code-block:: console

cd ~/ros2_{DISTRO}
vcs export src > my_ros2.repos
$ cd ~/ros2_{DISTRO}
$ vcs export src > my_ros2.repos

.. group-tab:: macOS

.. code-block:: bash
.. code-block:: console

cd ~/ros2_{DISTRO}
vcs export src > my_ros2.repos
$ cd ~/ros2_{DISTRO}
$ vcs export src > my_ros2.repos

.. group-tab:: Windows

.. code-block:: bash
.. code-block:: console

cd \dev\ros2_{DISTRO}
vcs export src > my_ros2.repos
$ cd \dev\ros2_{DISTRO}
$ vcs export src > my_ros2.repos

This ``my_ros2.repos`` file can then be shared with others so that they can reproduce the state of the repositories in your workspace.
61 changes: 32 additions & 29 deletions source/Installation/RHEL-Install-RPMs.rst
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Expand Up @@ -32,36 +32,36 @@ Enable required repositories

You will need to enable the EPEL repositories and the PowerTools repository:

.. code-block:: bash
.. code-block:: console

sudo dnf install 'dnf-command(config-manager)' epel-release -y
sudo dnf config-manager --set-enabled crb
$ sudo dnf install 'dnf-command(config-manager)' epel-release -y
$ sudo dnf config-manager --set-enabled crb

.. note:: This step may be slightly different depending on the distribution you are using.
`Check the EPEL documentation <https://docs.fedoraproject.org/en-US/epel/#_quickstart>`_

Next, download the ROS 2 ``.repo`` file:

.. code-block:: bash
.. code-block:: console

sudo dnf install curl
sudo curl --output /etc/yum.repos.d/ros2.repo http://packages.ros.org/ros2/rhel/ros2.repo
$ sudo dnf install curl
$ sudo curl --output /etc/yum.repos.d/ros2.repo http://packages.ros.org/ros2/rhel/ros2.repo

Then, update your metadata cache.
DNF may prompt you to verify the GPG key, which should match the location ``https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc``.

.. code-block:: bash
.. code-block:: console

sudo dnf makecache
$ sudo dnf makecache

Install development tools (optional)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

If you are going to build ROS packages or otherwise do development, you can also install the development tools:

.. code-block:: bash
.. code-block:: console

sudo dnf install -y \
$ sudo dnf install -y \
cmake \
gcc-c++ \
git \
Expand All @@ -78,9 +78,9 @@ If you are going to build ROS packages or otherwise do development, you can also
python3-vcstool \
wget

# install some pip packages needed for testing and
# not available as RPMs
python3 -m pip install -U --user \
~ install some pip packages needed for testing and
~ not available as RPMs
$ python3 -m pip install -U --user \
flake8-blind-except==0.1.1 \
flake8-class-newline \
flake8-deprecated
Expand All @@ -92,16 +92,16 @@ Install ROS 2

Desktop Install (Recommended): ROS, RViz, demos, tutorials.

.. code-block:: bash
.. code-block:: console

sudo dnf install ros-{DISTRO}-desktop
$ sudo dnf install ros-{DISTRO}-desktop

ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools.
No GUI tools.

.. code-block:: bash
.. code-block:: console

sudo dnf install ros-{DISTRO}-ros-base
$ sudo dnf install ros-{DISTRO}-ros-base

Install additional RMW implementations (optional)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Expand All @@ -114,11 +114,14 @@ Setup environment

Set up your environment by sourcing the following file.

.. code-block:: bash
.. code-block:: console

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source /opt/ros/{DISTRO}/setup.bash
$ source /opt/ros/{DISTRO}/setup.bash

.. note::

Replace ``.bash`` with your shell if you're not using console.
Possible values are: ``setup.bash``, ``setup.sh``, ``setup.zsh``.

Try some examples
-----------------
Expand All @@ -127,17 +130,17 @@ If you installed ``ros-{DISTRO}-desktop`` above you can try some examples.

In one terminal, source the setup file and then run a C++ ``talker``\ :

.. code-block:: bash
.. code-block:: console

source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_cpp talker
$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python ``listener``\ :

.. code-block:: bash
.. code-block:: console

source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_py listener
$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_py listener

You should see the ``talker`` saying that it's ``Publishing`` messages and the ``listener`` saying ``I heard`` those messages.
This verifies both the C++ and Python APIs are working properly.
Expand All @@ -159,6 +162,6 @@ Uninstall
If you need to uninstall ROS 2 or switch to a source-based install once you
have already installed from binaries, run the following command:

.. code-block:: bash
.. code-block:: console

sudo dnf remove ros-{DISTRO}-*
$ sudo dnf remove ros-{DISTRO}-*
38 changes: 19 additions & 19 deletions source/Installation/Testing.rst
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Expand Up @@ -26,42 +26,42 @@ For Debian-based operating systems, you can install binary packages from the **r
2. Edit (with sudo) the file ``/etc/apt/sources.list.d/ros2.list`` and change ``ros2`` with ``ros2-testing``.
For example, on Ubuntu Noble the contents should look like the following:

.. code-block:: sh
.. code-block:: bash

# deb http://packages.ros.org/ros2/ubuntu noble main
deb http://packages.ros.org/ros2-testing/ubuntu noble main

3. Update the ``apt`` index:

.. code-block:: sh
.. code-block:: console

sudo apt update
$ sudo apt update

4. You can now install individual packages from the testing repository, for example:

.. code-block:: sh
.. code-block:: console

sudo apt install ros-{DISTRO}-my-just-released-package
$ sudo apt install ros-{DISTRO}-my-just-released-package

5. Alternatively, you can move your entire ROS 2 installation to the testing repository:

.. code-block:: sh
.. code-block:: console

sudo apt dist-upgrade
$ sudo apt dist-upgrade

6. Once you are finished testing, you can switch back to the normal repository by changing back the contents of ``/etc/apt/sources.list.d/ros2.list``:

.. code-block:: sh
.. code-block:: bash

deb http://packages.ros.org/ros2/ubuntu noble main
# deb http://packages.ros.org/ros2-testing/ubuntu noble main

and doing an update and upgrade:

.. code-block:: sh
.. code-block:: console

sudo apt update
sudo apt dist-upgrade
$ sudo apt update
$ sudo apt dist-upgrade

.. _Prerelease_binaries:

Expand All @@ -85,15 +85,15 @@ These packaging jobs produce archives with pre-built binaries that can be downlo

.. group-tab:: Ubuntu Linux and RHEL

.. code-block:: sh
.. code-block:: console

source path/to/extracted/archive/setup.bash
$ source path/to/extracted/archive/setup.bash

.. group-tab:: Windows

.. code-block:: sh
.. code-block:: console

call path\to\extracted\archive\setup.bat
$ call path\to\extracted\archive\setup.bat

Docker
------
Expand All @@ -102,14 +102,14 @@ For Ubuntu Linux, there is also a nightly Docker image based on the nightly bina

1. Pull the Docker image:

.. code-block:: sh
.. code-block:: console

docker pull osrf/ros2:nightly
$ docker pull osrf/ros2:nightly

2. Start an interactive container:

.. code-block:: sh
.. code-block:: console

docker run -it osrf/ros2:nightly
$ docker run -it osrf/ros2:nightly

For support on running GUI applications in Docker, take a look at the tutorial `User GUI's with Docker <https://wiki.ros.org/docker/Tutorials/GUI>`_ or the tool `rocker <https://github.com/osrf/rocker>`_.
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