# ROS2 Foxy Not Preinstalled and ROS1 Melodic Not Standard

Source: https://forum.modalai.com/topic/3469/ros2-foxy-not-preinstalled-and-ros1-melodic-not-standard
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling
Posted: 2024-05-22 16:51:08 UTC by labkit
Replies: 1 · Views: 758

## labkit · 2024-05-22 16:51:08 UTC

I want to run ROS (preferably ROS2 but ROS1 also acceptable) on a Starling 2 drone that I received 2-3 weeks ago. Some information for the product is as follows. 

family code:   MRB-D0005 (starling)
compute board: 4 (voxl2)
hw version:    3
SKU:           MRB-D0005-4-V3-C6-T8
voxl-suite                                1.2.0
system-image: 1.7.6-M0054-14.1a-perf

According to the [ROS2 Installation Guide](https://docs.modalai.com/ros2-installation-voxl2/), ROS2 Foxy comes preinstalled on VOXL2. However, when searching in the /opt directory, all I can find is /opt/ros/melodic. Upon further inspection, the files within the melodic directory are only involved with converting Modal Pipe Architecture to ROS, while seeming lacking the standard directories and files present in a ROS Melodic installation. 

Is ROS2 not supposed to come preinstalled on the Starling 2? What is the purpose of the content of the /opt/ros/melodic directory? Do I need to install ROS2 or ROS1 manually using the instructions in the ROS2 Installation Guide and [ROS1 Installation Guide](https://docs.modalai.com/ros-installation-voxl2/)? Is ROS2 Foxy still the correct version to install, or can I install the more current Iron or Humble?

Thank you for your help.

## Reply by Zachary Lowell 0 · 2024-05-22 17:50:48 UTC

@labkit it is part of the SDK but not installed on the kernel - on you voxl2 please run the following:

1. `sudo apt-get install voxl-ros2-foxy`
2. `sudo apt-get install voxl-microdds-agent`
3. `sudo apt-get install voxl-mpa-to-ros2`
4. `voxl-configure-mpa-to-ros2`

Once this is done you should be ready to use ros2 by running `source /opt/ros/foxy/setup.bash` as well as `export ROS_HOME=/opt/ros/foxy`

Hope this helps. Also ensure that for the `voxl-configure-mpa-to-ros2` line you have an active internet connection on the voxl2 as this requires some pip installs.

Thanks!
Zach