installROS2

Scripts to install ROS2 (dashing) on the NVIDIA Jetson Development Kits

This is a simple script to install ROS2 on the NVIDIA Jetson Development Kits.

In order to run the script:

$ ./installROS2

The script roughly follows the 'Install ROS From Source' procedures from:

https://docs.ros.org/en/dashing/Installation/Ubuntu-Development-Setup.html

Much of the code is taken from the dusty-nv Github repository jetson-containers. The dusty-nv jetson-containers should be used to create a Docker container for the ROS2 on the Jetson. For more information:

Dockerfile.ros.foxy https://github.com/dusty-nv/jetson-containers

Testing examples

In one terminal, source the setup file and then run a C++ talker:

. /opt/ros/dashing/install/local_setup.bash
ros2 run demo_nodes_cpp talker

In another terminal source the setup file and then run a Python listener:

. /opt/ros/dashing/install/local_setup.bash
ros2 run demo_nodes_py listener

You should see the talker saying that it’s Publishing messages and the listener saying I heard those messages. This verifies both the C++ and Python APIs are working properly. Hooray!

Notes

Currently the NVIDIA Jetsons run Ubuntu 18.04. ROS2 dashing requires Ubuntu 18.04. This is a modification of script in https://github.com/jetsonhacks/installROS2 which installs ROS2 Foxy (which requires Ubuntu 20.04) using workarounds.

The file ~/.bashrc is modified using this script; You will want to make sure that the modifications match your expectations. For example, you may have a preference for having the install/setup.bash in another place (i.e. /root/.bashrc).

Release Notes

May, 2021

• Tested on JetPack 4.5, L4T 32.5
• Tested on Jetson TX2