Setting up the environment for ROS 2

At this point, open a Terminal and run the following command:

$ ros2
ros2: command not found

You will get an error message saying that the ros2 command can’t be found. As we will see later, ros2 is a command-line tool we can use to run and test our programs from the Terminal. If this command isn’t working, it means that ROS 2 hasn’t been set up correctly.

Even if ROS 2 is installed, there’s one more thing you need to do in every new session (or Terminal) where you want to use ROS 2: you need to source it in the environment.

Sourcing ROS 2 in the environment

To do that, source this bash script from where ROS 2 is installed:

$ source /opt/ros/<distro>/setup.bash

Replace <distro> with the current distribution name you are using. For ROS Jazzy, run the following command:

$ source /opt/ros/jazzy/setup.bash

After you run this, try executing the ros2 command again. This time, you should get...