# Install ROS2

Source: [https://docs.qualcomm.com/doc/80-88500-5/topic/install_third-party_libraries_and_run_basic_ros2_application.html](https://docs.qualcomm.com/doc/80-88500-5/topic/install_third-party_libraries_and_run_basic_ros2_application.html)

**Linux Ubuntu**

The current Ubuntu-based platform of QRB5165 is validated for ROS2/Foxy. As the Foxy
        release is not a part of the default repository, you must run the following steps to add the
        ROS2 package repository to the Ubuntu-based focal sources list before installing ROS2.

**Prerequisites:**

- To use ROS2, install the ROS2/Foxy package and ssh.
- Use ssh to update the `gpg` key of the ROS2 repository with
            `apt`.
- Ensure that the device is connected to an active Internet connection. For information on
          how to set up Wi-Fi on the device, see [Set up Wi-Fi](https://docs.qualcomm.com/doc/80-88500-5/topic/set_up_wi-fi.html).

To install ssh and ROS2 and get a basic ROS2 application running on the RB5 development
        kit, do the following:

1. Install ssh.

        adb rootCopy to clipboard

        adb remountCopy to clipboard

        adb shellCopy to clipboard

        apt updateCopy to clipboard

        apt upgradeCopy to clipboard

        apt install openssh-serverCopy to clipboard

        echo  "PermitRootLogin yes"  >> /etc/ssh/sshd_configCopy to clipboard

        /etc/init.d/ssh restartCopy to clipboard
2. To install `usbutils`, `git`, `bc`, and
          set the `locale`, run the following commands:

        apt install usbutils git bcCopy to clipboard

        apt install libvulkan1=1.2.131.2-1Copy to clipboard

        apt update && apt install localesCopy to clipboard

        localeCopy to clipboard

        locale-gen en_US en_US.UTF-8Copy to clipboard

        update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8Copy to clipboard

        export LANG=en_US.UTF-8Copy to clipboard

        localeCopy to clipboard
3. To ensure that the Ubuntu-based universe repository is enabled, run the following
          commands:

        apt install software-properties-commonCopy to clipboard

        add-apt-repository universeCopy to clipboard
4. To add ROS2 `gpg` key with `apt`, run the following
          commands:

        apt update && apt install curl -yCopy to clipboard

        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpgCopy to clipboard
5. To add the repository to the sources list, run the following command:

        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" | tee /etc/apt/sources.list.d/ros2.list > /dev/nullCopy to clipboard
6. To install ROS2 packages, run the following commands:

        apt updateCopy to clipboard

Note:  If the command fails, use the following
            command:

        apt update --fix-missingCopy to clipboard

        apt upgradeCopy to clipboard

        apt install ros-foxy-desktopCopy to clipboard

Note: If ROS2 command is not visible, run the command
          again.

        apt install python3-argcompleteCopy to clipboard
7. Verify if the ROS2 publish/subscribe mechanism is working.
    1. On a terminal, test the publish mechanism using the following commands:

            adb shellCopy to clipboard

            export ROS_HOME="/tmp/ros"Copy to clipboard

            source /opt/ros/foxy/setup.bashCopy to clipboard

            ros2 run demo_nodes_cpp talkerCopy to clipboard
    2. On the other terminal, test the subscribe mechanism using the following commands:

            adb shellCopy to clipboard

            export ROS_HOME="/tmp/ros"Copy to clipboard

            source /opt/ros/foxy/setup.bashCopy to clipboard

            ros2 run demo_nodes_py listenerCopy to clipboard

**Linux Embedded**

The Linux Embedded system comes with a built-in ROS2.

To verify ROS2, do the following:

1. Open a new terminal and run the following commands:

        source /usr/bin/ros_setup.shCopy to clipboard

        export HOME=/dataCopy to clipboard

        ros2 run demo_nodes_cpp talkerCopy to clipboard

          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s+V3JINH8X+6I4GdoXBW9J2cXCWUm8JLsvilJ6bI/FyNC+KAAtC50qWSSScD2WdAiPBQAmPBYZNjzdkyoFySFB7EQ9Fj7H9PPfY/mW9VjAPxn3WKRjD0nHGKrHIkvwHB5LimA87bFoxx6SsuXosXgvUh/BY8FjP+yxUP0WErD9aXgsThxaiQ5Cx0O7qbSQgC1WjyWFcktyLKWxloloNYStV3fRbiotJGAL1WMhD01zAI+F/JNZjwXrt5CALVWPRXfXCTwWnT8Z9liwfgsJ2CL1WPjGdAiPZXJh5RwL128hAVuqHgvprsf3WODE6so5Fq7fQgK2QD2W8mTL0++LAu/r5li4fgsJ2FL1WEh3HcFjIfmTQY+lqN9AAoBU90Uh3fXz32P5nvVYtNK4xyJFqKRBQmZLqB4LHdYDeCxEadpjURJWmkFCkKF6LHRYT+CxaKXhfVGAhJXmkABkih6LT3cGj0UVOeyxAAkrzSEByFA9FlgD5/BYEt3VEa3BVn4K+kRLc0gIMsmvs8vZDuAIHgsgDe+LAiRE0iOB6aXqsejwD+GxtOfSQGuw6X01kRBJgwQhE/VYisfNx/dYeIiT+6IwCVRzSFbIFPdF6X3/3B6Llcl9UThQzSEByFQ9Fl0DR9gXRZFGPRYkoWoOyQqZ674ocDbyCB4LIA17LEIC1RwSuH/I0mOxvv/577F8z3osynJ77sqxGNhYTQ2aN+pjtSw9Fmt5HMBjIesMu3IsDjZV04Pm1CfsRD2WYlGdwGMBsW8/6MuxGNjrki/i1FfsRD2WalE9vseiN7mMrxzaNQ72VY1iHRCtHajHUi6qx/dYlIdDtBoLW6vJsfG2AdGk6rHAonp+j0ULVjoei4cN1Uj/1fUJaXosxvI4gMcif6+F0kIsbDySqlHK+oxcPRZdVA/usRTHBGl5LA42VCNKTn0kWI8FFtUJPJbk9OlIx2MxsI2P9KO1HQoSrMcCi+oUHotU3vNYDGyoJvPanq36SK4eCy2qE3gslGWpAC2y1dhQDc50WMqnpUXqsdDy+L/LY/lvIgUA)
2. Open another terminal and run the following
            commands:

        source /usr/bin/ros_setup.shCopy to clipboard

        export HOME=/dataCopy to clipboard

        ros2 run demo_nodes_cpp listenerCopy to clipboard

![](data:image/png;base64,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)

**Parent Topic:** [Develop applications](https://docs.qualcomm.com/doc/80-88500-5/topic/develop_applications.html)

Last Published: Nov 25, 2025

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