ros2

wget https://github.com/ros2/ros2/releases/download/release-ardent/ros2-ardent-package-linux-fastrtps-x86_64.tar.bz2

tar -xvf ros2-ardent-package-linux-fastrtps-x86_64.tar.bz2 

sudo apt-get install libtinyxml-dev

sudo apt-get install libtinyxml2-dev

sudo apt-get install python-pip

sudo apt install python3-pip

sudo pip3 install Cython