Environment
Windows 10
Install Chocolatey
Run PowerShell as admin
Ensure Get-ExecutionPolicy is not Restricted
Copy PS C:\Windows\system32> Get-ExecutionPolicy
Restricted To change this, run
Copy PS C:\Windows\system32> Set-ExecutionPolicy AllSigned
Execution Policy Change
The execution policy helps protect you from scripts that you do not trust. Changing the execution policy might expose
you to the security risks described in the about_Execution_Policies help topic at
https:/go.microsoft.com/fwlink/?LinkID=135170. Do you want to change the execution policy?
[Y] Yes [A] Yes to All [N] No [L] No to All [S] Suspend [?] Help (default is "N"): Y
Copy PS C:\Windows\system32> Get-ExecutionPolicy
AllSigned Set the installation directory:
Copy $env:ChocolateyInstall = "D:\Documents\chocolately"
Copy PS C:\Windows\system32> Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1')) Install Python and VCredist140
Copy choco install -y python --version 3.8.3
choco install -y vcredist2013 vcredist140 Install OpenSSL
Download the Win64 OpenSSL v1.1.1n OpenSSL installer from this page . Scroll to the bottom of the page and download Win64 OpenSSL v1.1.1n . Don’t download the Win32 or Light versions, or the v3.X.Y installers.
Copy setx /m OPENSSL_CONF "D:\Documents\OpenSSL-Win64\bin\openssl.cfg" Add openssl to PATH
D:\Documents\OpenSSL-Win64\bin
Install Visual Studio
An easy way to make sure they’re installed is to select the Desktop development with C++ workflow during the install.
Install OpenCV
Download a precompiled version of OpenCV 3.4.6 from https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip .
Copy setx /m OpenCV_DIR "D:\Documents\ros2-humble\tools\opencv" Add D:\Documents\ros2-humble\tools\opencv\x64\vc16\bin to path.
Install other dependencies
Copy choco install -y cmake Add C:\Program Files\CMake\bin to path
Copy choco install -y -s D:\Downloads asio cunit eigen tinyxml-usestl tinyxml2 bullet
Copy python -m pip install -U pip setuptools==59.6.0
Copy python -m pip install -U catkin_pkg cryptography empy importlib-metadata lark==1.1.1 lxml matplotlib netifaces numpy opencv-python PyQt5 pillow psutil pycairo pydot pyparsing==2.4.7 pyyaml rosdistro Install Qt5
Copy setx /m Qt5_DIR D:\Documents\Qt\Qt5.12.12\5.12.12\msvc2017_64
setx /m QT_QPA_PLATFORM_PLUGIN_PATH D:\Documents\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms
Install Graphviz
To run rqt_graph you need to download and install Graphviz .
Select add to PATH in the installer options
D:\Documents\ros2-windows\tools\Graphviz
Install ROS2
Copy call D:\Documents\ros2-humble\local_setup.bat https://www.reddit.com/r/ROS/comments/b7jsgx/trouble_installing_ros_2_on_windows/
https://answers.ros.org/question/379164/rti-connext-dds-environment-script-not-found-ros2-on-windows/
https://answers.ros.org/question/294209/ros2-command-not-found-in-windows/
Note: need to use cmd.exe, powershell will not work.
Install Fast DDS
Download the latest windows release from here:
https://www.eprosima.com/index.php/component/ars/repository/eprosima-fast-dds
Install RTI Connext DDS
Copy call "D:\Documents\ros2-humble\tools\rti_context_dds\rti_connext_dds-6.1.1\resource\scripts\rtisetenv_x64Win64VS2017.bat" 
