{"id":498,"date":"2024-06-18T10:40:30","date_gmt":"2024-06-18T01:40:30","guid":{"rendered":"https:\/\/ahnbk.dev\/?p=498"},"modified":"2026-01-16T16:14:44","modified_gmt":"2026-01-16T07:14:44","slug":"ros2-jazzy-%ec%84%a4%ec%b9%98","status":"publish","type":"post","link":"https:\/\/ahnbk.dev\/?p=498","title":{"rendered":"ROS2 Jazzy \uc124\uce58"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\uc124\uce58\ud658\uacbd, Ubuntu 24.04<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc124\uce58\ud560 \ub54c, \uc5b8\uc5b4\ub294 \uc601\uc5b4(English)\ub85c \ud558\ub294 \uac83\uc744 \ucd94\ucc9c. \ud55c\uae00 \uc785\ub825\uc740 <a href=\"https:\/\/ahnbk.dev\/?p=368\">https:\/\/ahnbk.dev\/?p=368<\/a> \ucc38\uace0.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">ROS2 \uc124\uce58\uc5d0 \ub300\ud55c \uc790\uc138\ud55c \uc124\uba85\uc740 \uacf5\uc2dd \ubb38\uc11c \ud398\uc774\uc9c0\ub97c \ucc38\uc870. (<a href=\"https:\/\/docs.ros.org\/en\/jazzy\/Installation\/Ubuntu-Install-Debians.html\">https:\/\/docs.ros.org\/en\/jazzy\/Installation\/Ubuntu-Install-Debians.html<\/a>)<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"has-medium-font-size wp-block-paragraph\">Repository \uc124\uc815<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install software-properties-common\n$ sudo add-apt-repository universe<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt update &amp;&amp; sudo apt install curl -y\n$ sudo curl -sSL https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.key -o \/usr\/share\/keyrings\/ros-archive-keyring.gpg<\/code><\/pre>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] http:\/\/packages.ros.org\/ros2\/ubuntu $(. \/etc\/os-release &amp;&amp; echo $UBUNTU_CODENAME) main\" | sudo tee \/etc\/apt\/sources.list.d\/ros2.list &gt; \/dev\/null<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">ROS2 \uac1c\ubc1c\uc5d0 \ud544\uc694\ud55c \ud234\ub4e4\uc744 \ubaa8\uc544\ub193\uc740 \uba54\ud0c0 \ud328\ud0a4\uc9c0 \uc124\uce58 (\uc635\uc158)<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt update\n$ sudo apt install ros-dev-tools<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\"\/>\n\n\n\n<p class=\"has-medium-font-size wp-block-paragraph\">ROS2 \uc124\uce58 \uc2dc\uc791<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt update\n$ sudo apt install ros-jazzy-desktop<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">DDS \uc124\uce58. \uae30\ubcf8\uc73c\ub860 FastRTPS\uac00 \uc124\uce58\ub418\uc5b4 \uc788\uc73c\ub098, CycloneDDS\uc744 \uc0ac\uc6a9\ud558\ub294 \uac83\uc744 \uad8c\uc7a5\ud568<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install ros-jazzy-rmw-cyclonedds-cpp\n$ echo \"export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp\" >> ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\"\/>\n\n\n\n<p class=\"has-medium-font-size wp-block-paragraph\">\ud658\uacbd\uc124\uc815<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"source \/opt\/ros\/jazzy\/setup.bash\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ub3c4\uba54\uc778 \uc544\uc774\ub514 \uc124\uc815<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"export ROS_DOMAIN_ID=&lt;your_domain_id&gt;\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">Jazzy \ubc84\uc804\ubd80\ud130\ub294 DDS\ub97c \uc774\uc6a9\ud55c \uc790\ub3d9 \uc5f0\uacb0 \uae30\ub2a5\uc5d0 \ub300\ud55c \ubc94\uc704\ub97c \ud658\uacbd\ubcc0\uc218\ub85c \uc124\uc815 \uac00\ub2a5<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"export ROS_AUTOMATIC_DISCOVERY_RANGE=&lt;discover option&gt;\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc635\uc158\uac12\uc740 \ub2e4\uc74c\uc758 \ud55c \uc885\ub958\ub97c \uc120\ud0dd<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">SUBNET : \ud604\uc7ac \uc11c\ube0c\ub137 \uc124\uc815 (\uc608: 255.255.255.0)\uc5d0 \ub530\ub77c Node \ubc1c\uacac(Discover) \ubc0f \uc5f0\uacb0 (Default)\nLOCALHOST : \ud604\uc7ac \uba38\uc2e0 \ub0b4\uc5d0\uc11c\ub9cc Node \ubc1c\uacac(Discover) \ubc0f \uc5f0\uacb0 \nOFF : \ub2e4\ub978 \ub178\ub4dc\uc640 \uc5f0\uacb0\ud558\uc9c0 \uc54a\uc74c, \ub2e8\ub3c5 \uc2e4\ud589\nSYSTEM_DEFAULT : \ucd08\uae30\uac12 \uc0ac\uc6a9 (SUBNET)<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc124\uc815\uc774 \ub05d\ub09c \ub2e4\uc74c, source\ub098 \ud130\ubbf8\ub110 \uc7ac\uc2e4\ud589\uc73c\ub85c \ud658\uacbd\ubcc0\uc218 \uc14b\uc5c5 \uc801\uc6a9<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\"\/>\n\n\n\n<p class=\"has-medium-font-size wp-block-paragraph\">\uac1c\ubc1c\ud234(colcon) \uc124\uce58 \ubc0f \uc124\uc815<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install python3-colcon-common-extensions<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">colcon_cd \uba85\ub839 \uc0ac\uc6a9\uc744 \uc704\ud55c \ud658\uacbd\ubcc0\uc218 \uc14b\uc5c5<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"source \/usr\/share\/colcon_cd\/function\/colcon_cd.sh\" &gt;&gt; ~\/.bashrc\n$ echo \"export _colcon_cd_root=\/opt\/ros\/jazzy\/\" &gt;&gt; ~\/.bashrc\n$ echo \"source \/usr\/share\/colcon_argcomplete\/hook\/colcon-argcomplete.bash\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">workspace \ub514\ub809\ud1a0\ub9ac \uc0dd\uc131<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ mkdir -p ~\/dev_ws\/src\n$ cd ~\/dev_ws<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ube4c\ub4dc<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ colcon build --symlink-install<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ud604\uc7ac workspace \uc0ac\uc6a9\ud558\ub3c4\ub85d \ud658\uacbd\ubcc0\uc218 \uc124\uc815<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ echo \"source ~\/dev_ws\/install\/setup.bash\" &gt;&gt; ~\/.bashrc<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">rosdep \uc124\uce58<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install python3-rosdep\n$ sudo rosdep init\n$ rosdep update<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">vcstool \uc124\uce58<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo apt install python3-vcstool<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\uac83\uc73c\ub85c \uc77c\ub2e8 \uae30\ubcf8 \uc124\uce58 \ubc0f \ud658\uacbd \uc14b\uc5c5 \uc644\ub8cc.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\uc124\uce58\ud658\uacbd, Ubuntu 24.04 \uc124\uce58\ud560 \ub54c, \uc5b8\uc5b4\ub294 \uc601\uc5b4(English)\ub85c \ud558\ub294 \uac83\uc744 \ucd94\ucc9c. \ud55c\uae00 \uc785\ub825\uc740 https:\/\/ahnbk.dev\/?p=368 \ucc38\uace0. ROS2 \uc124\uce58\uc5d0 \ub300\ud55c \uc790\uc138\ud55c \uc124\uba85\uc740 \uacf5\uc2dd \ubb38\uc11c \ud398\uc774\uc9c0\ub97c \ucc38\uc870. (https:\/\/docs.ros.org\/en\/jazzy\/Installation\/Ubuntu-Install-Debians.html) Repository \uc124\uc815 ROS2 \uac1c\ubc1c\uc5d0 \ud544\uc694\ud55c \ud234\ub4e4\uc744 \ubaa8\uc544\ub193\uc740 \uba54\ud0c0 \ud328\ud0a4\uc9c0 \uc124\uce58 (\uc635\uc158) ROS2 \uc124\uce58 \uc2dc\uc791 DDS \uc124\uce58. \uae30\ubcf8\uc73c\ub860 FastRTPS\uac00 \uc124\uce58\ub418\uc5b4 \uc788\uc73c\ub098, CycloneDDS\uc744 \uc0ac\uc6a9\ud558\ub294 \uac83\uc744 \uad8c\uc7a5\ud568 \ud658\uacbd\uc124\uc815 \ub3c4\uba54\uc778 \uc544\uc774\ub514 \uc124\uc815 Jazzy \ubc84\uc804\ubd80\ud130\ub294 DDS\ub97c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[98],"tags":[100,99,101],"class_list":["post-498","post","type-post","status-publish","format-standard","hentry","category-ros2","tag-jazzy","tag-ros2","tag-ubuntu-24-04"],"_links":{"self":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/498","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=498"}],"version-history":[{"count":10,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/498\/revisions"}],"predecessor-version":[{"id":667,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/498\/revisions\/667"}],"wp:attachment":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=498"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=498"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=498"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}