use ROS_DISTRO env value instead of <ros2-distro>. (#863)

fujitatomoya · web-flow · commit bb0276919fc2 · 2026-02-09T11:40:19.000-08:00
* use ROS_DISTRO env value instead of &lt;ros2-distro&gt;.

Signed-off-by: Tomoya.Fujita &lt;tomoya.fujita825@gmail.com&gt;

* make sure to source ROS 2 workspace setup script.

Signed-off-by: Tomoya.Fujita &lt;Tomoya.Fujita@sony.com&gt;

---------

Signed-off-by: Tomoya.Fujita &lt;tomoya.fujita825@gmail.com&gt;
Signed-off-by: Tomoya.Fujita &lt;Tomoya.Fujita@sony.com&gt;
diff --git a/getting_started/index.rst b/getting_started/index.rst
@@ -24,27 +24,33 @@ Jazzy introduced the new Gazebo modern simulator, replacing Gazebo Classic.
 Thus, for Jazzy and newer, the installation packages and instructions are slightly different to pull in the appropriate packages.
 
 1. Install the `ROS 2 binary packages <https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html>`_  as described in the official docs
-2. Install the |PN| packages using your operating system's package manager:
+2. Source your ROS 2 installation to set up the environment:
 
    .. code-block:: bash
 
-      sudo apt install ros-<ros2-distro>-navigation2
-      sudo apt install ros-<ros2-distro>-nav2-bringup
+      source /opt/ros/<ros2-distro>/setup.bash
+
+3. Install the |PN| packages using your operating system's package manager:
+
+   .. code-block:: bash
+
+      sudo apt install ros-$ROS_DISTRO-navigation2
+      sudo apt install ros-$ROS_DISTRO-nav2-bringup
 
-3. Install the demo robot (Turtlebot) for gazebo:
+4. Install the demo robot (Turtlebot) for gazebo:
 
 For **Jazzy and newer**, install the Turtlebot 3 & 4 packages for Gazebo Modern. It should be automatically installed with ``nav2_bringup``:
 
    .. code-block:: bash
 
-      sudo apt install ros-<ros2-distro>-nav2-minimal-tb*
+      sudo apt install ros-$ROS_DISTRO-nav2-minimal-tb*
 
 
 For **Iron and older**, install Turtlebot 3 packages for gazebo classic:
 
    .. code-block:: bash
 
-      sudo apt install ros-<ros2-distro>-turtlebot3-gazebo
+      sudo apt install ros-$ROS_DISTRO-turtlebot3-gazebo
 
 Running the Example
 *******************
@@ -56,7 +62,7 @@ Running the Example
 
       source /opt/ros/<ros2-distro>/setup.bash
       export TURTLEBOT3_MODEL=waffle  # Iron and older only with Gazebo Classic
-      export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models # Iron and older only with Gazebo Classic
+      export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/$ROS_DISTRO/share/turtlebot3_gazebo/models # Iron and older only with Gazebo Classic
 
 3. In the same terminal, run:
 
diff --git a/setup_guides/odom/setup_odom_gz.rst b/setup_guides/odom/setup_odom_gz.rst
@@ -79,9 +79,17 @@ Setup and Prerequisites
 
 `Gazebo <http://gazebosim.org/>`_ is a 3D simulator that allows us to observe how our virtual robot will function in a simulated environment. To start using Gazebo with ROS 2, follow the installation instructions in the `Gazebo Installation Documentation <https://gazebosim.org/docs/latest/ros_installation/>`_.
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: shell
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the ROS-Gazebo integration package:
+
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-ros-gz
+  sudo apt install ros-$ROS_DISTRO-ros-gz
 
 Adding Gazebo Plugins to a URDF/SDF
 ===================================
diff --git a/setup_guides/odom/setup_odom_gz_classic.rst b/setup_guides/odom/setup_odom_gz_classic.rst
@@ -77,11 +77,17 @@ Setup and Prerequisites
 
 `Gazebo <http://classic.gazebosim.org/>`_ is a 3D simulator that allows us to observe how our virtual robot will function in a simulated environment. To start using Gazebo with ROS 2, follow the installation instructions in the `Gazebo Installation Documentation <http://classic.gazebosim.org/tutorials?cat=install>`_.
 
-We also need to install the ``gazebo_ros_pkgs`` package to simulate odometry and control the robot with ROS 2 in Gazebo:
+First, source your ROS 2 installation to set the environment variables:
 
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-gazebo-ros-pkgs
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the ``gazebo_ros_pkgs`` package to simulate odometry and control the robot with ROS 2 in Gazebo:
+
+.. code-block:: shell
+
+  sudo apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
 
 You can test if you have successfully set up your ROS 2 and Gazebo environments by following the instructions `given here <http://classic.gazebosim.org/tutorials?tut=ros2_installing&cat=connect_ros#TestingGazeboandROS2integration>`_.
 
diff --git a/setup_guides/odom/setup_robot_localization.rst b/setup_guides/odom/setup_robot_localization.rst
@@ -25,11 +25,17 @@ Configuring Robot Localization
 
 Let us now configure the ``robot_localization`` package to use an Extended Kalman Filter (``ekf_node``) to fuse odometry information and publish the ``odom`` => ``base_link`` transform.
 
-First, install the ``robot_localization`` package using your machines package manager or by executing the following command:
+First, source your ROS 2 installation to set the environment variables:
 
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-robot-localization
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the ``robot_localization`` package:
+
+.. code-block:: shell
+
+  sudo apt install ros-$ROS_DISTRO-robot-localization
 
 Next, we specify the parameters of the ``ekf_node`` using a YAML file. Create a directory named ``config`` at the root of your project and create a file named ``ekf.yaml``. Copy the following lines of code into your ``ekf.yaml`` file.
 
diff --git a/setup_guides/sdf/setup_sdf.rst b/setup_guides/sdf/setup_sdf.rst
@@ -15,9 +15,17 @@ SDF is a file format for simulators, like Gazebo, that describes the simulator e
 
 We can also use our SDF with the robot_state_publisher using the following package. You will see how to do this in the tutorial below.
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: shell
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the sdformat-urdf package:
+
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-sdformat-urdf
+  sudo apt install ros-$ROS_DISTRO-sdformat-urdf
 
 This package contains a C++ library and urdf_parser_plugin for converting SDFormat XML into URDF C++ structures. Installing it allows one to use SDFormat XML instead of URDF XML as a robot description.
 
diff --git a/setup_guides/sensors/mapping_localization.rst b/setup_guides/sensors/mapping_localization.rst
@@ -165,7 +165,7 @@ To be able to launch ``slam_toolbox``, make sure that you have installed the ``s
 
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-slam-toolbox
+  sudo apt install ros-$ROS_DISTRO-slam-toolbox
 
 We will launch the ``async_slam_toolbox_node`` of ``slam_toolbox`` using the package's built-in launch files. Open a new terminal and then execute the following lines:
 
@@ -197,8 +197,8 @@ First, Make sure you have installed the Nav2 packages by executing the following
 
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-navigation2
-  sudo apt install ros-<ros2-distro>-nav2-bringup
+  sudo apt install ros-$ROS_DISTRO-navigation2
+  sudo apt install ros-$ROS_DISTRO-nav2-bringup
 
 We will now launch Nav2 using the ``nav2_bringup``'s built-in launch file, ``navigation_launch.py`` . Open a new terminal and execute the following:
 
diff --git a/setup_guides/urdf/setup_urdf.rst b/setup_guides/urdf/setup_urdf.rst
@@ -31,10 +31,18 @@ In this guide, we are assuming that you are already familiar with ROS 2 and how
 
 Let's begin by installing some additional ROS 2 packages that we will be using during this tutorial.
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: shell
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the required packages:
+
 .. code-block:: shell
 
-  sudo apt install ros-<ros2-distro>-joint-state-publisher-gui
-  sudo apt install ros-<ros2-distro>-xacro
+  sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
+  sudo apt install ros-$ROS_DISTRO-xacro
 
 Next, create a directory for your project, initialize a ROS 2 workspace and give your robot a name. For ours, we'll be calling it ``sam_bot``.
 
diff --git a/tutorials/docs/camera_calibration.rst b/tutorials/docs/camera_calibration.rst
@@ -16,18 +16,26 @@ This tutorial shows how to obtain calibration parameters for monocular camera.
 Requirements
 ============
 
-1- Install Camera Calibration Parser, Camera Info Manager and Launch Testing Ament Cmake using operating system’s package manager:
+1- First, source your ROS 2 installation to set the environment variables:
 
-        ``sudo apt install ros-<ros2-distro>-camera-calibration-parsers``
+.. code-block:: shell
 
-        ``sudo apt install ros-<ros2-distro>-camera-info-manager``
+  source /opt/ros/<ros2-distro>/setup.bash
 
-        ``sudo apt install ros-<ros2-distro>-launch-testing-ament-cmake``
+2- Install Camera Calibration Parser, Camera Info Manager and Launch Testing Ament Cmake:
 
+.. code-block:: shell
 
-2- Image Pipeline need to be built from source in your workspace with:
+  sudo apt install ros-$ROS_DISTRO-camera-calibration-parsers
+  sudo apt install ros-$ROS_DISTRO-camera-info-manager
+  sudo apt install ros-$ROS_DISTRO-launch-testing-ament-cmake
 
-        ``git clone -b <ros2-distro> git@github.com:ros-perception/image_pipeline.git``
+
+3- Image Pipeline need to be built from source in your workspace with:
+
+.. code-block:: shell
+
+  git clone -b $ROS_DISTRO git@github.com:ros-perception/image_pipeline.git
 
 
 **Also, make sure you have the following:**
diff --git a/tutorials/docs/navigation2_on_real_turtlebot3.rst b/tutorials/docs/navigation2_on_real_turtlebot3.rst
@@ -32,9 +32,17 @@ If you don't have them installed, please follow :ref:`getting_started`.
 
 The turtlebot3 software can be installed via the following or on the `turtlebot3 repository <https://github.com/ROBOTIS-GIT/turtlebot3>`_:
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: bash
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the Turtlebot3 packages:
+
 .. code-block:: bash
 
-  sudo apt install ros-<ros2-distro>-turtlebot3 ros-<ros2-distro>-turtlebot3-msgs ros-<ros2-distro>-turtlebot3-bringup
+  sudo apt install ros-$ROS_DISTRO-turtlebot3 ros-$ROS_DISTRO-turtlebot3-msgs ros-$ROS_DISTRO-turtlebot3-bringup
 
 Tutorial Steps
 ==============
diff --git a/tutorials/docs/navigation2_with_slam.rst b/tutorials/docs/navigation2_with_slam.rst
@@ -25,13 +25,23 @@ Requirements
 You must install Navigation2, Turtlebot3, and SLAM Toolbox.
 If you don't have them installed, please follow :ref:`getting_started`.
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: bash
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
 SLAM Toolbox can be installed via:
 
-  ``sudo apt install ros-<ros2-distro>-slam-toolbox``
+.. code-block:: bash
+
+  sudo apt install ros-$ROS_DISTRO-slam-toolbox
 
 or from built from source in your workspace with:
 
-  ``git clone -b <ros2-distro>-devel git@github.com:stevemacenski/slam_toolbox.git``
+.. code-block:: bash
+
+  git clone -b $ROS_DISTRO-devel git@github.com:stevemacenski/slam_toolbox.git
 
 
 Tutorial Steps
@@ -43,9 +53,17 @@ Tutorial Steps
 For this tutorial, we will use the turtlebot3.
 The turtlebot3 software can be installed via the following or on the `turtlebot3 repository <https://github.com/ROBOTIS-GIT/turtlebot3>`_:
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: bash
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
+Then install the Turtlebot3 packages:
+
 .. code-block:: bash
 
-  sudo apt install ros-<ros2-distro>-turtlebot3 ros-<ros2-distro>-turtlebot3-msgs ros-<ros2-distro>-turtlebot3-bringup
+  sudo apt install ros-$ROS_DISTRO-turtlebot3 ros-$ROS_DISTRO-turtlebot3-msgs ros-$ROS_DISTRO-turtlebot3-bringup
 
 If you have another robot, replace with your robot specific interfaces.
 Typically, this includes the robot state publisher of the URDF, simulated or physical robot interfaces, controllers, safety nodes, and the like.
diff --git a/tutorials/docs/navigation2_with_stvl.rst b/tutorials/docs/navigation2_with_stvl.rst
@@ -57,13 +57,23 @@ Follow the same process as in :ref:`getting_started` for installing and setting
 1- Install STVL
 ---------------
 
+First, source your ROS 2 installation to set the environment variables:
+
+.. code-block:: bash
+
+  source /opt/ros/<ros2-distro>/setup.bash
+
 STVL can be installed in ROS 2 via the ROS Build Farm:
 
-- ``sudo apt install ros-<ros2-distro>-spatio-temporal-voxel-layer``
+.. code-block:: bash
+
+  sudo apt install ros-$ROS_DISTRO-spatio-temporal-voxel-layer
 
 It can also be built from source by cloning the repository into your Navigation2 workspace:
 
-- ``git clone -b <ros2-distro>-devel git@github.com:stevemacenski/spatio_temporal_voxel_layer``
+.. code-block:: bash
+
+  git clone -b $ROS_DISTRO-devel git@github.com:stevemacenski/spatio_temporal_voxel_layer
 
 1- Modify Navigation2 Parameter
 -------------------------------
