These instructions were created by Ali Tousi (stousi@missouri.edu) and G. N. DeSouza (DeSouzaG@missouri.edu)

ROS-Noetic-and-Gazebo-in-Ubuntu-22.04

The instructions to install ROS Noetic from source in Jammy from some websites are incomplete -- it claims to install ros-desktop-full, but it doesn't (e.g. there is no Gazebo afterwards). I have modified these instructions to install Gazebo from binary packages from OSR and ROS from source (from Focal).

Install the basic stuff

sudo apt install git gnupg wget

First, let's install gazebo from the OSR Foundation repository

Make sure that there are no gazebo or ros repositories enabled/listed under /etc/apt/source.list.d

sudo apt update

Clean up any previous installation of gazebo

sudo apt-get remove '.gazebo.' '.sdformat.' '.ignition-math.' '.ignition-msgs.' '.ignition-transport.' '.ignition.'

sudo apt autoremove

Install the dependencies for gazebo

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list'

sudo wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

sudo apt-get update

sudo wget https://raw.githubusercontent.com/ignition-tooling/release-tools/master/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh

Now, remove "ogre 2.1" from the list of $ogre in /tmp/dependencies.sh

sudo vi /tmp/dependencies.sh

Install the dependencies

GAZEBO_MAJOR_VERSION=11 ROS_DISTRO=noetic . /tmp/dependencies.sh

sudo echo $BASE_DEPENDENCIES $GAZEBO_BASE_DEPENDENCIES | tr -d '\' | xargs sudo apt-get -y install

Now install gazebo binary packages from OSR

sudo apt install gazebo

Gazebo is done!! Now, let's install ROS from source using a FOCAL (20.04) repository

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'

sudo curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools python3-vcstool build-essential

sudo rosdep init

Do NOT do rosdep update yet!!!

sudo mkdir ~/Downloads

cd ~/Downloads

sudo wget http://archive.ubuntu.com/ubuntu/pool/universe/h/hddtemp/hddtemp_0.3-beta15-53_amd64.deb

sudo apt install ./hddtemp_0.3-beta15-53_amd64.deb

sudo wget https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml

sudo vi base.yaml ####### to look like this...

hddtemp:

arch: [hddtemp]

debian: [hddtemp]

fedora: [hddtemp]

freebsd: [python27]

gentoo: [app-admin/hddtemp]

macports: [python27]

nixos: [hddtemp]

openembedded: [hddtemp@meta-oe]

opensuse: [hddtemp]

rhel: [hddtemp]

slackware: [hddtemp]

ubuntu:

'*': null

bionic: [hddtemp]

focal: [hddtemp]

impish: [hddtemp]

jammy: [hddtemp]"

Save it

sudo mv base.yaml /etc/ros/rosdep/sources.list.d/

sudo vi /etc/ros/rosdep/sources.list.d/20-default.list ##### to look like this

yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml

yaml file:///etc/ros/rosdep/sources.list.d/base.yaml

Download list of packages to install noetic-desktop-full

sudo rosdep update

sudo mkdir ~/ros_catkin_ws

cd ~/ros_catkin_ws

sudo rosinstall_generator desktop_full --rosdistro noetic --deps --tar > noetic-desktop-full.rosinstall

sudo mkdir ./src

sudo vcs import --input noetic-desktop-full.rosinstall ./src

sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

Backup

cd ~/ros_catkin_ws/src

sudo mkdir ~/Downloads/backup

sudo mv rosconsole urdf ~/Downloads/backup/

Download and use fixed branch

sudo git clone https://github.com/dreuter/rosconsole.git

cd rosconsole

sudo git checkout noetic-jammy