Follow the guide here and flash an SD card Jetson Nano Developer Kit SD Card Image. Tested on JetPack 4.6.1 (L4T 32.7.1) and JetPack 4.5 (L4T 32.5)
Doing an upgrade on Nvidia packages seems to break the bootloader. So avoid upgrading them for the moment.
sudo apt-mark hold 'nvidia-l4t-*'
sudo apt update
sudo apt upgrade -yInstall the following packages.
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt install -y \
build-essential \
checkinstall \
libssl-dev
sudo apt install -y --no-install-recommends \
curl \
wget \
gnupg2 \
lsb-release
sudo rm -rf /var/lib/apt/lists/*The existing CMake version is 3.10 and is too old for building certain ROS2 Foxy packages. So we need to get a newer version. The recommended way is to get the precompiled binaries.
cd ~
wget https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0-Linux-aarch64.tar.gz
tar -zxvf cmake-3.20.0-Linux-aarch64.tar.gz
cd cmake-3.20.0-Linux-aarch64/
sudo cp -rf bin/ doc/ share/ /usr/local/
sudo cp -rf man/* /usr/local/man
sync
# check if version is now 3.20
cmake --versionOr if you want to build from source,
cd ~
wget https://github.com/Kitware/CMake/releases/download/v3.20.0/cmake-3.20.0.tar.gz
tar -zvxf cmake-3.20.0.tar.gz
cd ~/cmake-3.20.0
./bootstrap
make -j2
sudo checkinstall --pkgname=cmake --pkgversion="3.20-custom" --default
hash -r
cd ~We also need yaml-cpp-0.6 for some ROS2 Foxy packages. But it is not in the apt repositories so we need to build it from source.
cd ~
git clone --branch yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp yaml-cpp-0.6
cd yaml-cpp-0.6
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON ..
make -j2
# Copy built binaries
sudo cp libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/
# Make a soft link
sudo ln -s /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6.0 /usr/lib/aarch64-linux-gnu/libyaml-cpp.so.0.6We are now ready to built ROS2 Foxy.
sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8cd ~
wget --no-check-certificate https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
sudo apt-key add ros.asc
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'sudo apt update
# install development packages
sudo apt install -y --no-install-recommends \
build-essential \
git \
libbullet-dev \
libpython3-dev \
python3-colcon-common-extensions \
python3-flake8 \
python3-pip \
python3-pytest-cov \
python3-rosdep \
python3-setuptools \
python3-vcstool \
python3-rosinstall-generator
# install Fast-RTPS dependencies
sudo apt install --no-install-recommends -y \
libasio-dev \
libtinyxml2-dev
# install Cyclone DDS dependencies
sudo apt install --no-install-recommends -y \
libcunit1-dev
# install vision_opencv dependencies
sudo apt install libboost-python-dev -y
sudo rm -rf /var/lib/apt/lists/*# install some pip packages needed for testing
python3 -m pip install -U \
argcomplete \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-docstrings \
flake8-import-order \
flake8-quotes \
pytest-repeat \
pytest-rerunfailures \
pytest
# (Run this command if 'flake8-*' is not been install properly:
# installs the 'wheel' package for the current user only,
# which might resolve any permission-related issues.)
pip3 install wheel
pip3 install --user wheel
python3 --version
pip3 --version
pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'mkdir -p ~/ros2_build_root/src
cd ~/ros2_build_root
# Download all the necessary repositories
sudo sh -c "rosinstall_generator --deps --rosdistro foxy ros_base launch_xml launch_yaml example_interfaces > ros2.foxy.ros_base.rosinstall && \
cat ros2.foxy.ros_base.rosinstall && \
vcs import src < ros2.foxy.ros_base.rosinstall"# download unreleased packages
cd ~/ros2_build_root
# Clone specific commit
sudo sh -c "git clone --branch ros2 https://github.com/Kukanani/vision_msgs src/vision_msgs && cd src/vision_msgs && git reset --hard ad6e80ee7bb2eb1d5d687568f71abece7c0b6941"
cd ~/ros2_build_root
sudo sh -c "git clone --branch foxy https://github.com/ros2/demos demos && \
cp -r demos/demo_nodes_cpp src/ && \
cp -r demos/demo_nodes_py src/ && \
rm -r -f demos"
# download vision_opencv packages
cd ~/ros2_build_root/src
sudo sh -c "git clone https://github.com/ros-perception/vision_opencv.git -b foxy"sudo apt update
cd ~/ros2_build_root
sudo rosdep init
rosdep update
# install missing ros package dependencies
rosdep install --from-paths src --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers qt_gui"
sudo rm -rf /var/lib/apt/lists/*This process took more than 2 hours and max out the CPU.
cd ~/ros2_build_root
sudo mkdir -p /opt/ros/foxy
# sudo required to write build logs
sudo colcon build --merge-install --install-base /opt/ros/foxy
# We do this twice to make sure everything gets built
# For some reason, this has been an issue
sudo colcon build --merge-install --install-base /opt/ros/foxy
# (consider set 'No' for java compiling, and ignore the warning.)
# expand environment variables
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc
source ~/.bashrcsource ~/.bashrc
# You should see a `chatter` topic being published after
# running this line
ros2 run demo_nodes_py talker
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