ros2

ROS 2 Jazzy Jalisco is the current LTS release of the Robot Operating System. This guide installs the packages needed for robot simulation, MoveIt motion planning, hardware control, and Gazebo integration.

Prerequisites

• Ubuntu 24.04 (Noble) — required for ROS 2 Jazzy
• ROS 2 Jazzy base installation complete
• Internet access for package downloads

Add the ROS 2 APT Source

sudo apt update && sudo apt install curl -y

export ROS_APT_SOURCE_VERSION=$(curl -s \
  https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest \
  | grep -F 'tag_name' | awk -F'"' '{print $4}')

curl -L -o /tmp/ros2-apt-source.deb \
  "https://github.com/ros-infrastructure/ros-apt-source/releases/download/\
${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.\
$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"

sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt update && sudo apt install -y ros-dev-tools

Install Jazzy Packages

sudo apt install -y software-properties-common terminator

# URDF and robot description tools
sudo apt install -y ros-jazzy-joint-state-publisher-gui
sudo apt install -y ros-jazzy-xacro
sudo apt install -y ros-jazzy-joint-state-publisher

# Gazebo integration
sudo apt install -y ros-jazzy-ros-gz*
sudo apt install -y ros-jazzy-gz-ros2-control
sudo apt install -y ros-jazzy-gz-ros2-control*

# Hardware control
sudo apt install -y ros-jazzy-ros2-control
sudo apt install -y ros-jazzy-ros2-controllers
sudo apt install -y libserial-dev

# MoveIt motion planning
sudo apt install -y ros-jazzy-moveit*
sudo apt install -y ros-jazzy-gz-ros2-moveit*

sudo apt-add-repository universe
sudo apt update

Verify

source /opt/ros/jazzy/setup.bash
ros2 pkg list | grep moveit
ros2 pkg list | grep gz

Notes

• Add source /opt/ros/jazzy/setup.bash to your ~/.bashrc to avoid sourcing it in every terminal session.
• ros-jazzy-ros-gz* installs all Gazebo/ROS 2 bridge packages — omit the wildcard and install only what you need to reduce install size.
• Terminator is a multi-pane terminal useful for monitoring multiple ROS 2 nodes simultaneously.