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Overview

ROS2 Jazzy Jalisco requires Ubuntu 24.04 LTS (Noble Numbat). This guide covers installing Ubuntu and ROS2 on your development computer.
Based on: “Preparing the computer for ROS2” document ROS2 Version: Jazzy Jalisco (latest LTS) Ubuntu Version: 24.04 Noble Numbat

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Installation Options

Virtual Machine

Pros:
  • Easy setup
  • Keep existing OS
  • Reversible
Cons:
  • Slower performance
  • Gazebo laggy
  • Needs 60GB+ disk

Dual Boot

Pros:
  • Full performance
  • Gazebo runs smoothly
  • Native hardware access
Cons:
  • More complex setup
  • Partition required
  • Dual OS management

External SSD

Pros:
  • Full performance
  • Portable
  • No partition needed
Cons:
  • Requires USB 3.0+ SSD
  • Slightly slower than internal
  • Boot configuration
Recommendation: Start with VM for learning. Switch to dual-boot or SSD if Gazebo simulation is too slow.

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Option 1: Virtual Machine Setup

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Step 1: Install VirtualBox

  1. Download VirtualBox: https://www.virtualbox.org/
  2. Install for your OS (Windows/Mac/Linux)
  3. Download Extension Pack (same page)
  4. Install Extension Pack: VirtualBox → Preferences → Extensions

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Step 2: Download Ubuntu 24.04

Download Ubuntu 24.04 Desktop image:

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Step 3: Create Virtual Machine

1

New VM

  1. Open VirtualBox
  2. Click “New”
  3. Name: Ubuntu_ROS2
  4. Type: Linux
  5. Version: Ubuntu (64-bit)
  6. Click “Next”
2

Memory

  • RAM: 8GB minimum (8192 MB)
  • More is better if available (16GB recommended)
3

Hard Disk

  • Create virtual hard disk
  • Type: VDI (VirtualBox Disk Image)
  • Storage: Dynamically allocated
  • Size: 60GB minimum (100GB recommended)
4

VM Settings

Before starting, configure settings:Display:
  • Settings → Display → Graphics Controller → VBoxSVGA
  • Video Memory: 128MB
  • Enable 3D Acceleration
Network:
  • Adapter 1: Bridged Adapter (for WiFi)
  • Adapter 2: NAT (for wired connection backup)
USB:
  • Settings → USB → USB 3.0 Controller
  • Add filter for ESP32 (click + icon)
Processor:
  • Settings → System → Processor → 4 CPUs (if available)
5

Install Ubuntu

  1. Start VM
  2. Select downloaded ISO file when prompted
  3. Follow Ubuntu installation:
    • Language: English
    • Keyboard: Your layout
    • Installation type: Minimal / Normal
    • Erase disk and install (VM disk, not real disk!)
    • Create user account
    • Wait for installation (~20 min)
  4. Restart VM
  5. Remove ISO from VM settings
VM Performance Tips:
  • Allocate maximum safe RAM (leave 4GB for host OS)
  • Enable VT-x/AMD-V in BIOS (hardware virtualization)
  • Use SSD for VM storage (not HDD)

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Option 2: Dual Boot Setup

BACKUP YOUR DATA FIRST! Partitioning can lead to data loss if done incorrectly.

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General Steps:

  1. Create bootable USB:
    • Download Ubuntu 24.04 ISO
    • Use Rufus (Windows) or Etcher (Mac/Linux)
    • Flash ISO to USB drive (8GB+)
  2. Shrink existing partition:
    • Windows: Disk Management → Shrink Volume → 100GB
    • Mac: Disk Utility → Partition
  3. Boot from USB:
    • Restart computer
    • Enter BIOS/UEFI (F2, F12, Del key during startup)
    • Set USB as first boot device
    • Save and exit
  4. Install Ubuntu alongside existing OS:
    • Choose “Install Ubuntu”
    • Select “Install alongside [your OS]”
    • Allocate 60-100GB to Ubuntu
    • Follow installation wizard
  5. Configure boot loader (GRUB):
    • Automatically configured
    • Choose OS at startup
Detailed guides:

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Install ROS2 Jazzy

Once Ubuntu 24.04 is running:
1

Set Locale

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
Verify:
locale  # Should show en_US.UTF-8
2

Enable Required Repositories

# Ensure Ubuntu Universe repository is enabled
sudo apt install software-properties-common
sudo add-apt-repository universe

# Add ROS 2 GPG key
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

# Add repository to sources list
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
3

Update Package Cache

sudo apt update
sudo apt upgrade
4

Install ROS 2 Desktop

sudo apt install ros-jazzy-ros-base ros-dev-tools
For development computer with GUI:
sudo apt install ros-jazzy-desktop
This installs:
  • ROS 2 core
  • RViz2 (visualization)
  • Demos and tutorials
  • Development tools
Installation time: ~10-15 minutes
5

Source ROS2 Setup

Add to .bashrc for automatic sourcing:
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
source ~/.bashrc
Verify installation:
printenv | grep ROS
Should show:
ROS_VERSION=2
ROS_PYTHON_VERSION=3
ROS_DISTRO=jazzy

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Install Additional Tools

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Essential Tools

# Terminator (better terminal)
sudo apt install terminator

# VSCode
sudo snap install code --classic

# Git (usually pre-installed)
sudo apt install git

# Colcon (ROS2 build tool)
sudo apt install python3-colcon-common-extensions

# Gazebo (simulation)
sudo apt-get install ros-jazzy-ros-gz

# RViz2 plugins
sudo apt install ros-jazzy-rviz2

# PlotJuggler (data visualization)
sudo apt install ros-jazzy-plotjuggler-ros

# Robot localization
sudo apt install ros-jazzy-robot-localization

# Navigation2
sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup

# SLAM Toolbox
sudo apt install ros-jazzy-slam-toolbox

# TF2 tools
sudo apt install ros-jazzy-tf2-tools

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Test ROS2 Installation

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Test 1: Talker-Listener

Terminal 1: 
ros2 run demo_nodes_cpp talker
Terminal 2: 
ros2 run demo_nodes_cpp listener
Expected: Listener should print messages from Talker.

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Test 2: Turtlesim

ros2 run turtlesim turtlesim_node
Expected: Window with turtle appears. In another terminal: 
ros2 run turtlesim turtle_teleop_key
Use arrow keys to move turtle.

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Test 3: RViz2

rviz2
Expected: RViz window opens (may be slow on VM).

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Troubleshooting

Solution:
  • Settings → Display → Graphics Controller → VBoxSVGA
  • Disable 3D Acceleration if issues persist
Solution:
  • VM Settings → Network → Adapter 1 → Bridged Adapter
  • Select your WiFi interface from dropdown
  • OR use Adapter 2 with NAT for wired connection
Solution:
  • Install VirtualBox Extension Pack
  • Settings → USB → USB 3.0 Controller
  • Add USB filter for ESP32
  • Plug in device and select it in Devices → USB menu
Solution:
source /opt/ros/jazzy/setup.bash
# Or restart terminal
Make permanent:
echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
Cause: VM performance limitationsSolutions:
  • Allocate more RAM to VM (12-16GB)
  • Allocate more CPU cores (4-6)
  • Use dual-boot or external SSD instead of VM
  • Reduce Gazebo quality settings

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Next Steps

Raspberry Pi Setup

Install ROS2 on Raspberry Pi (onboard computer)

ROS2 Basics

Learn ROS2 concepts: nodes, topics, packages

Communication Testing

Test PC ↔ Raspberry Pi communication

Software Reference

Set up development tools

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References

[1] ROS2 Jazzy Documentation: https://docs.ros.org/en/jazzy/ [2] Ubuntu 24.04 Download: https://releases.ubuntu.com/noble/ [3] VirtualBox User Manual: https://www.virtualbox.org/manual/