Installing ROS2 Humble on Jetson Orin Nano 20.04

Issue Overview

Users are experiencing difficulties installing ROS2 Humble on the Jetson Orin Nano running Ubuntu 20.04. The main symptoms include the inability to find prebuilt packages for ROS2 Humble due to Ubuntu 20.04 not being a tier-1 distribution supported by ROS. Users have reported that they need to build ROS from source using Docker containers, as there are no apt packages available for this version of Ubuntu. The issue arises during the installation process, primarily when users attempt to set up their development environment for ROS2 on this specific hardware and software combination. The impact of this problem significantly hampers the user experience, as it complicates the initial setup and may deter users from proceeding with their projects.

Possible Causes

• Unsupported Distribution: Ubuntu 20.04 is not a tier-1 distro for ROS2 Humble, leading to a lack of prebuilt packages.
• Docker Dependency: Users must rely on Docker containers to build ROS from source, which may introduce additional complexity and potential errors.
• Configuration Errors: Incorrect configurations during the Docker setup or installation process can lead to installation failures.
• Driver Issues: Incompatibilities between the Jetson Orin Nano and required drivers for ROS2 may exacerbate installation problems.
• User Misconfigurations: Users unfamiliar with Docker or ROS installation processes may inadvertently misconfigure their setups.

Troubleshooting Steps, Solutions & Fixes

1. Verify Ubuntu Version:

   • Ensure you are using Ubuntu 20.04, as it is not officially supported for ROS2 Humble.

2. Use Docker Containers:

   • Pull precompiled Docker images for ROS from the repository:

     docker pull dusty-nv/jetson-containers:ros
     

   • Follow instructions provided in the Jetson Containers GitHub repository for building ROS from source.

3. Install Dependencies:

   • Make sure all necessary dependencies are installed:

     sudo apt update
     sudo apt install -y build-essential
     

4. Build from Source:

   • If using Docker is not feasible, consider building ROS2 Humble from source by following the official ROS2 installation guide.

5. Check Configuration Settings:

   • Review your Docker configuration settings to ensure they align with the requirements for building ROS2.

6. Utilize Community Resources:

   • Engage with community forums for additional support and troubleshooting tips.

7. Documentation and Updates:

   • Regularly check NVIDIA’s developer site for updates on JetPack and driver compatibility, as issues may arise with new releases.

8. Best Practices:

   • For future installations, consider using a tier-1 supported OS version (like Ubuntu 22.04) that has prebuilt packages available through apt to simplify the installation process.

9. Unresolved Issues:

   • Users have noted that while some solutions work, further investigation may be needed regarding specific driver issues or configurations that could affect performance or stability after installation.

By following these steps, users can navigate the complexities of installing ROS2 Humble on their Jetson Orin Nano and potentially avoid common pitfalls associated with unsupported distributions and complex setup processes.