Troubleshooting Third-Party Installation Issues for ROS 2

If you face issues with the automated installation as described in Install ROS 2 and Dependencies, you can use the manual method of installing dependencies.

Manual Method

In this alternate method, you install the ROS 2 dependencies one after the other.

Install ROS2 Humble

Install ROS 2 Humble on Ubuntu^® 22.04 by following the instructions given in the link Ubuntu (Debian packages) — ROS 2 Documentation: Humble documentation

The instructions are listed in the below steps:

Set Locale.

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup sources.

Ensure Ubuntu universe repository is enabled.

sudo apt install software-properties-common
sudo add-apt-repository universe

Add the ROS 2 GPG key with apt.

sudo apt install software-properties-common
sudo add-apt-repository universe

Add repository to sources list. Run the following code as part of one command line.

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 ROS 2 packages – update the apt repository caches.
```
sudo apt update
sudo apt upgrade
```
Install ROS 2 Humble Desktop version.
```
sudo apt install ros-humble-desktop
```

Install the additional package required to identify the ROS package used in the Hardware Setup screens.

sudo apt install -y python3-rospkg

Install ROS2 UR Driver

The ROS 2 driver for Universal robots are installed from the link UniversalRobots/Universal_Robots_ROS2_Driver at humble (github.com)

We recommend installing the driver from the mentioned version of the binary source option using the following commands:

cd ~
source /opt/ros/humble/setup.bash
sudo apt-get install -y ros-humble-ur=2.2.9-1jammy.20231009.131439

Install SSH Server

This step is required to connect to the ROS 2 Machine via SSH.

sudo apt-get install -y openssh-server
sudo systemctl enable ssh
sudo systemctl start ssh

Install Docker

Universal Robots provides URSim support with docker workflow for Ubuntu 22.04. Install the docker using following command:

sudo apt install docker.io

Once installed, start the docker and provide sudo permission to launch the URSim.

sudo systemctl start docker
sudo chown $USER:$USER /var/run/docker.sock