Carter Set Up with AGX Orin

Hi, I am trying to assemble Carter with AGX Orin Devkit and I am attempting to follow this guide https://docs.nvidia.com/isaac/doc/tutorials/carter_hardware.html

However I am very new to robotics and all of this and I am stuck on trying to install Isaac SDK due to the Orin having an incompatible Ubuntu version of 20.04 while the Isaac SDK only supports 18.04.

I have tried to use a Ubuntu 18.04 docker image and am trying to continue following this guide. May I ask if there is an updated guide for the software setup for Orin? My main goal of my project for now is to assemble the robot and allow it to do SLAM, but I am stuck at around step 7 while not really sure if I did the previous steps correctly. (7. On the Xavier, edit the sensor configuration files for Carter to accurately reflect the position of the sensors. The following are file locations and sample configurations for the different sensors:)

Apologies for the newbie question!

Edit: it seems like the Isaac docs e.g. https://docs.nvidia.com/isaac/packages/lidar_slam/doc/cartographer.html#cartographer-doc have been taken down (last updated on 28 Aug). I am trying to deploy Cartographer with a Docker container running Ubuntu 18.04 on the Orin but this link no longer works…

The documentation is back online, and the Carter reference design does work with AGX Xavier as shown in the documentation. We have not tried Orin yet.