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ROS Noetic Install on Jetson Nano for Ubuntu 18.04 and Ubuntu 20.04

The goal of this guide is to compile and install a fully working version of ROS Noetic on both the official Jetson Nano Ubuntu 18.04 with python 3.6 support and Ubuntu 20.04 with python 3.8 support.
The steps are the same for both distributions since the installation is done from source. Moreover, the steps should, generally, be the same for all other Jetson boards.
It is my opinion that this should be the preferred way of installing ROS1 on Jetson and I had the the most success when doing it this way.

The guide assumes that a clean and up-to-date Ubuntu 18.04 or Ubuntu 20.4 installation was done on the Jetson Nano. The steps for this are discussed in the Jetson Nano Ubuntu 18.04 Full Install guide and in the Ubuntu 20.04 Install Through Distribution Upgrade respectively.

  1. First make sure you have gcc-10 and g++-10 activated:
sudo update-alternatives --config gcc
sudo update-alternatives --config g++

Select the number corresponding to version 10 for each of the compilers.

  1. Add the ros repo to install some required tools. Do NOT attempt to install ROS distrbution directly:
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' ## add ros repo

sudo apt install curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt-get update

sudo apt-get install python3-catkin-pkg python3-rosdistro python3-rosinstall-generator python3-rospkg python3-vcstools python3-vcstool python3-rosdep
  1. Initialize ROS dependency manager tool:
sudo rosdep init
rosdep update
  1. Create a catkin workspace. Since, this will be the place were we'll build ROS a suggest you give it a diffrent name than the usual catkin_ws:
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
  1. Depending on what you want to achive you can choose to download the packages you will need. That is, similar to an install through a packages manager, like ROS-Base or ROS Desktop-Full Install, you can choose to download and build the variant to your specification as indicated in [4].
    For example, to download the packages contained within ROS-Base do the following:
rosinstall_generator robot perception --rosdistro noetic --deps --tar > noetic-robot-perception.rosinstall
mkdir ./src
vcs import --input noetic-robot-perception.rosinstall ./src

whereas to download the packages contained within ROS Desktop do the following:

rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
mkdir ./src
vcs import --input noetic-desktop.rosinstall ./src
  1. In order to build we must first resolve dependencies with rosdep. Please note that some dependencies might be reported as missing (like tf), however the build and install will succeed properly. It is very important here to use the -r option to skip the ones that fail.
rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y -r
  1. Before building we need to modify the cv_bridge CMakeLists.txt to avoid a compilation error:
nano ./src/vision_opencv/cv_bridge/CMakeLists.txt

change the line find_package(Boost REQUIRED python37) to find_package(Boost REQUIRED python3).

  1. Build the distribution and install it as usual in the /opt/ros/noetic folder:
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 --install-space /opt/ros/noetic
  1. Don't forget to setup your environment:
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
  1. To test the ROS Noetic installation launch the roscore before making other changes:
roscore
... logging to /home/jetson/.ros/log/43644112-8dab-11ed-ba50-a967e2d0f2c8/roslaunch-nano-23182.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://nano.local:43793/
ros_comm version 1.15.15


SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES

auto-starting new master
process[master]: started with pid [23192]
ROS_MASTER_URI=http://nano.local:11311/

setting /run_id to 43644112-8dab-11ed-ba50-a967e2d0f2c8
process[rosout-1]: started with pid [23202]
started core service [/rosout]
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Troubleshooting

  1. If a package installation fails try:
sudo apt install --fix-broken
  1. If that fails you need to install each one at a time. For example, if
sudo apt install python3-catkin-pkg

fails with something similar to:

Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
  python3-catkin-pkg-modules
The following NEW packages will be installed:
  python3-catkin-pkg-modules
The following packages will be upgraded:
  python3-catkin-pkg
1 upgraded, 1 newly installed, 0 to remove and 4 not upgraded.
Need to get 3,840 B/47.0 kB of archives.
After this operation, 85.0 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://packages.ros.org/ros/ubuntu bionic/main arm64 python3-catkin-pkg all 0.5.2-100 [3,840 B]
Fetched 3,840 B in 0s (15.5 kB/s)
(Reading database ... 245252 files and directories currently installed.)
Preparing to unpack .../python3-catkin-pkg-modules_0.5.2-1_all.deb ...
Unpacking python3-catkin-pkg-modules (0.5.2-1) ...
dpkg: error processing archive /var/cache/apt/archives/python3-catkin-pkg-modules_0.5.2-1_all.deb (--unpack):
 trying to overwrite '/usr/lib/python3/dist-packages/catkin_pkg/__init__.py', which is also in package python3-catkin-pkg 0.3.9-1
Preparing to unpack .../python3-catkin-pkg_0.5.2-100_all.deb ...
Unpacking python3-catkin-pkg (0.5.2-100) over (0.3.9-1) ...
Errors were encountered while processing:
 /var/cache/apt/archives/python3-catkin-pkg-modules_0.5.2-1_all.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

then, use dpkg to overwrite:

sudo dpkg -i --force-overwrite /var/cache/apt/archives/python3-catkin-pkg-modules_0.5.2-1_all.deb

Do this for every missing package.

  1. You can aslo install the necesarry package dependencies through pip3. Please note that some steps below may give rise to errors due to the fact that you may have already have them installed through the package manager.
sudo apt-get install python3-rosdep python3-rosinstall-generator python3-vcstools build-essential libgtest-dev liborocos-kdl-dev
sudo -H python3 -m pip install -U pip
sudo -H python3 -m pip install -U setuptools
sudo -H python3 -m pip install -U rosdep rosinstall_generator vcstool

References

  1. Installing from source
  2. ROS Noetic Install on jetson nano (Ubuntu 18.04)
  3. HOWTO install rospy ROS Noetic module to Ubuntu 18.04
  4. REP: 150 - ROS Melodic and Newer Metapackages