Install Robot Operating System (ROS) on NVIDIA Jetson AGX Xavier
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Install Robot Operating System (ROS) on NVIDIA Jetson AGX Xavier

August 25, 2019


Hello, it’s Jim from JetsonHacks.com. On
today’s screencast, we are going to install Robot Operating System (also
called ROS) on the NvidiaJetson AGX Xavier Developer Kit. Let’s get
started! With the release of the Xavier, we have
updated the Jetson ROS install scripts. Today we are working on a Jetson AGX
Xavier which has just been flashed with L4T 31.0.2 using JetPack 4.1. On
the JetsonHacks account on Github, there is a repository named installROSXavier. We are going to clone that repository. Let’s grab the address. Switch
over to that repositories directory. There are two scripts here. One is called
installROS and the other is called setupCatkinWorkspace. installROS does
the brunt of the work. Let’s take a look at the options. If we just run the
installROS script, it will install ros-melodic-ros-base as our default package.
We also have the option to install a base package of our own choosing. In this
case, let’s install the desk top package. this -p tells us that we’re going
to load a different package. We can add multiple packages here we just add
another -p and then the name of the package that we want to load. In this
case, we’ll just load desktop. Off we go! Installation complete! Now we are ready
to set up our Catkin Workspace. Let’s clear this. I we look at the README file,
we can see that we have the option of naming the workspace. We would basically
put whatever directory path we want in here.
The default is catkin_ws in the home directory. Okay, let’s set up our
Catkin workspace. We’ll just use the default catkin workspace name. our Catkin Workspace has been created. Now we need to modify the placeholders for the
ROS_MASTER_URI and ROS_IP that are in the.bashrc file. Let’s do that. The ROS_MASTER_URI is located on localhost so that should be OK. For the ROS_IP it
basically would just list out all of the different network connections you have.
Let’s just use the Ethernet one here for this example. You will need to modify
this for your network configuration. Let’s save this. Close this up. Now we are
ready to start ROS. Let’s close that, open up a new terminal. Switch over to
our Catkin Workspace, and we can just run roscore here. Looking good! Llet’s take a look at what’s
running. We’ll switch over to the Catkin Workspace. Source the devel. And we can
see what we can see, which is the roscore server rosout and rosout_agg. If you liked this video, please give it a thumbs up, and subscribe. Thanks for
watching!

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