The ros2-desktop SDK

The ros2 SDK is used to set up a ROS 2 desktop development environment.

In Workshop, it sets up a full fledge ROS 2 environment and also attempts to install the project dependencies using Rosdep. We detail hereafter what the ros2-desktop SDK contains and what does it configure.

It is available for the workshop bases:

  • 22.04 on channel humble/stable

  • 24.04 on channel jazzy/stable

  • 26.04 on channel lyrical/stable

How it works

The ros2-minimal SDK retrieves the ROS 2 GPG key from the Ubuntu key server and sets up the ROS 2 repository.

It then installs the following packages:

  • ros-dev-tools

  • python3-colcon-argcomplete

  • python3-colcon-alias

  • python3-colcon-clean

  • python3-colcon-mixin

  • ros-${ROS_DISTRO}-desktop-full

And initializes Rosdep.

It then configures Colcon’s auto-completion as well as its default ~/.colcon/defaults.yaml configuration file, and retrieves and configures the default Colcon mixins.

The SDK sets up the ROS 2 workspace at ~/workspace/src and automatically sources the ROS 2 installation in ~/.profile.

Last but not least, it installs the project dependencies using rosdep install.

Example

Please refer to the tutorial ‘ROS 2 development using Workshop’ for a complete example of using Workshop for ROS 2 development.