By default, CUDA Toolkit 8.0 is installed to the Jetson by JetPack-L4T. This provides the toolchain for native CUDA development on Jetson (ARM aarch64), amongst others including:
compiler (nvcc)
linker (nvlink)
debugger (cuda-gdb)
profiler (nvprof)
These are located under /usr/local/cuda in addition to headers and libs for application development.
At this time, Nsight GUI is not provided for ARM to natively run on Jetson. However, as mentioned above, all the CUDA tools that Nsight uses underneath are provided. If you are looking for a way to manage your project, I recommend cmake.