Installing on Ubuntu from source

Install from source requires that you download and compile the source code on your own.



  • sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial


The following lines will download the ROS source code using the rosinstall tool, and bootstrap the installation. The installation downloads all ROS stacks in subdirectories inside the ~/ros directory, one subdirectory for each stack in the rosinstall file.

First install rosinstall:

  • sudo easy_install -U rosinstall

There are many different libraries and tools in ROS. We provided four default configurations to get you started.

  • Desktop-Full Install: (Recommended): ROS Full, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    • rosinstall ~/ros ""

    Desktop Install: : ROS Full, rviz, and robot-generic libraries

    • rosinstall ~/ros ""

    ROS-Full: ROS package, build, communication, and graphical tools.

    • rosinstall ~/ros ""

    ROS-Base: (Bare Bones) ROS package, build, and communication libraries.

    • rosinstall ~/ros ""

NOTE: the instructions above download all stacks inside the ~/ros folder. If you prefer a different location, simply change the ~/ros in the commands above.

Please reference REP 108 for description of other available configurations.

Environment Setup

Shell language:   Bash     Zsh    

You'll now need to update your environment. You can do this by typing:

source ~/ros/setup.bash

It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched, which you can do with the command below:

echo "source ~/ros/setup.bash" >> ~/.bashrc
. ~/.bashrc

For Zsh users, change the last line of ~/ros/setup.zsh to

source $ROS_ROOT/tools/rosbash/roszsh

before running source ~/ros/setup.zsh Similarly, have the setup script called at the start of each new shell session with

echo "source ~/ros/setup.zsh" >> ~/.zshrc
. ~/.zshrc


Now, to test your installation, please proceed to the ROS Tutorials.

Wiki: diamondback/Installation/Ubuntu/Source (last edited 2011-03-01 17:05:26 by wim)