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Minimal ROS2 Installation

asked 2019-06-10 21:25:41 -0500

Is there a repo file available that produces a minimal ROS2 installation similar to ros-base from ROS1?

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answered 2019-06-10 22:10:44 -0500

tfoote gravatar image

The repos file is an artifact of our development process from before ROS2 distros existed. You can get what you want using the rosinstall_generator just like you can with ROS 1 distros. e.g.

Release tags:

rosinstall_generator --deps --rosdistro dashing ros_base

Upstream tags:

rosinstall_generator --deps --upstream --rosdistro dashing ros_base

Upstream devel branches

rosinstall_generator --deps --upstream-devel --rosdistro dashing ros_base

For faster checkouts you don't plan to edit you can use the tarballs option.

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Awesome. I didn't even think to try the old setup. Thanks.

david.hodo gravatar image david.hodo  ( 2019-06-10 22:19:47 -0500 )edit

Looking for the same thing as OP. I've been following the ROS 2 build guide here:

For a minimal install, I should run rosinstall_generator prior to the colcon build command, correct?

mechapancake gravatar image mechapancake  ( 2020-02-06 11:13:27 -0500 )edit

You should replace the wget of the 'ros2.repos' file with the rosinstall_generator command.

tfoote gravatar image tfoote  ( 2020-02-06 11:51:03 -0500 )edit

How big should the ros_base download be? I tried this with foxy and it downloaded >800 MB of source repos.

nealtanner gravatar image nealtanner  ( 2021-01-13 16:53:03 -0500 )edit

That's a little higher than I'd expect. If you check out the tarballs with just the latest checkout I see 124MB. Dependeing on what packages you're pulling the repositories from you can have a good amount of historical versions included in the default clone of the repositories, especially the release repositories which are not optimized for minimal git clones.

tfoote gravatar image tfoote  ( 2021-01-14 02:50:12 -0500 )edit

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Asked: 2019-06-10 21:25:41 -0500

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Last updated: Jun 10 '19