How to Install ROS Noetic or Melodic on Jetson Orin with JetPack v6.0

Issue Overview

Users are experiencing difficulties installing ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04) on the Jetson Orin Nano using JetPack v6.0. Symptoms include installation failures, inability to compile ROS from source, and issues with accessing required files, particularly OpenCV dependencies. The problem primarily arises during the setup phase, especially when attempting to build a Docker container for ROS Noetic, leading to frustration among users who rely on this environment for development.

Specific Symptoms

• Errors when trying to compile ROS Noetic on Ubuntu 22.04.
• Inaccessibility of OpenCV files due to regional restrictions (e.g., in mainland China).
• Failure to build Docker containers for ROS Noetic.

Context

The issue occurs within the context of using JetPack v6.0, which is based on Ubuntu 22.04. Users have noted that ROS Noetic is not supported on this distribution, complicating installation efforts.

Hardware/Software Specifications

• Hardware: Nvidia Jetson Orin Nano
• Software: JetPack v6.0, Ubuntu 22.04

Frequency of Issue

This issue appears to be common among users attempting similar installations, indicating a broader compatibility concern.

Impact on User Experience

The inability to successfully install and run ROS environments significantly hampers development processes, particularly for those working on robotics and AI applications.

Possible Causes

1. Hardware Incompatibilities: The Jetson Orin Nano may have specific hardware requirements that conflict with the installation of certain software packages.
2. Software Bugs: Issues within JetPack v6.0 or the ROS installation scripts may lead to compilation failures.
3. Configuration Errors: Incorrect settings or parameters during installation can prevent successful setup.
4. Driver Issues: Incompatibilities between CUDA drivers and the desired ROS version can cause build failures.
5. Environmental Factors: Regional access restrictions to necessary files (e.g., OpenCV) hinder installation efforts.
6. User Errors: Misconfigurations during the setup process may lead to repeated failures.

Troubleshooting Steps, Solutions & Fixes

1. Check Compatibility:

   • Ensure that you are using a compatible version of JetPack and Ubuntu for the desired ROS version.
   • It is recommended to use JetPack v5.x for better compatibility with ROS Noetic.

2. Building Docker Container:

   • To build a Docker container for ROS Noetic, use the following command:

     jetson-containers build ros:noetic-ros-base
     

   • This command compiles ROS from source; ensure you have sufficient resources available.

3. Accessing OpenCV Files:

   • If you’re unable to access OpenCV files via wget, manually download the required .tar.gz file and place it in your project directory.
   • Modify your Dockerfile or install script by replacing wget commands with COPY commands to use your local copy:

     COPY OpenCV-4.5.0-aarch64.tar.gz /path/to/destination/
     

4. Rollback Options:

   • If issues persist, consider rolling back to JetPack v5.x where users have reported successful installations of ROS Noetic:
     • Reinstall from an image rather than attempting a downgrade.
     • Follow community guides on reinstalling previous versions.

5. Using Alternative Containers:

   • If CUDA acceleration is not required, consider using existing containers built for JetPack 5.x that may run on JetPack 6.x without major issues:

     docker pull dustynv/ros:noetic-desktop-l4t-r35.4.1
     

   • Confirm compatibility based on your project’s needs.

6. Documentation and Community Support:

   • Refer to the official Nvidia documentation for detailed installation guides and troubleshooting steps.
   • Engage with community forums for shared experiences and solutions.

7. Best Practices:

   • Regularly check for updates related to JetPack and ROS compatibility.
   • Maintain backups of working configurations and scripts for easier recovery in case of errors.

8. Unresolved Aspects:

   • Further investigation may be needed regarding specific error messages encountered during builds.
   • Users are encouraged to report their findings back to community forums for collective troubleshooting efforts.

By following these steps, users should be able to diagnose and potentially resolve issues related to installing ROS on their Jetson Orin Nano devices running JetPack v6.0.