How to install Gazebo on Jetson Xavier NX

I am trying to install Gazebo on Jetson Xavier NX but getting error
E: Unable to locate package libgazebo11-dev
E: Unable to locate package gazebo11

Anyone knows how to install?

it is possible to try it from here:

otherwise from here

also from sources:

How did you do it? I saw some the answer , there are some docker images, but only one for arm64 architecture. Can you suggest me some step?

Gazebo v9 is in the Ubuntu 18.04 apt repo - you can simply do sudo apt-get install gazebo9

Can you suggest me any way to install gazebo both inside Docker and on Jetson XavierNx (arm processor)?
I try to used docker But Gazebo did not execute inside docker.
I worry that because jetson xavier nx don’t have graphic device.

Nguyen Ngoc Dat

I regularly use Gazebo from within Docker container - did you start the container with --runtime nvidia?

Also, you may want to use the helper script from jetson-containers repo to start the container:

$ git clone
$ cd jetson-containers
$ scripts/ -c

This script will automatically setup the container for GUI use:

Also, suffice it to say that you will need a display attached to your Jetson.

1 Like

without the display you may try VirtualGL thing though

I don’t reccomend turbovnc + virtualgl. I’m not sure that the problem that I have (TurboVNC server + virtualGL installed on the jetson nano crashes often and suddenly - #4 by marietto2008) is present only on my jetson nano. Since no one helped me to make it stable,a bug could be somewhere. Turbovnc + virtual gl is not stable at all. It disconnects suddenly. I propose to use the X+ssh forwarding of the whole desktop manager.

root@zi-desktop:~/Desktop/zi/Work/Android/Virt/dockers/arm64# git clone GitHub - dusty-nv/jetson-containers: Machine Learning Containers for NVIDIA Jetson and JetPack-L4T

Cloning into ‘jetson-containers’…
remote: Enumerating objects: 452, done.
remote: Counting objects: 100% (33/33), done.
remote: Compressing objects: 100% (24/24), done.
remote: Total 452 (delta 15), reused 22 (delta 9), pack-reused 419
Receiving objects: 100% (452/452), 101.42 KiB | 555.00 KiB/s, done.
Resolving deltas: 100% (266/266), done.

root@zi-desktop:~/Desktop/zi/Work/Android/Virt/dockers/arm64# cd jetson-containers

root@zi-desktop:~/Desktop/zi/Work/Android/Virt/dockers/arm64/jetson-containers# scripts/ -c

localuser:root being added to access control list
xauth: file /tmp/.docker.xauth does not exist
Unable to find image ‘’ locally
r32.4.4-pth1.6-py3: Pulling from nvidia/l4t-pytorch
e74fe6ef6bd6: Pulling fs layer
7dcdd1c8f1d2: Pulling fs layer
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Digest: sha256:05c1f230887ba3eeb6d24d7850d84d17d306f471d9c0c3a33a6e73bb2defe719
Status: Downloaded newer image for

docker: Error response from daemon: OCI runtime create failed: container_linux.go:380: starting container process caused: process_linux.go:545: container init caused: Running hook #0:: error running hook: exit status 1, stdout: , stderr: exec command: [/usr/bin/nvidia-container-cli --load-kmods configure --ldconfig=@/sbin/ldconfig.real --device=all --compute --compat32 --graphics --utility --video --display --pid=25195 /var/lib/docker/overlay2/d059c71d32774ffbc53e591ffd2abb0b1d2c805b6e8bb8d7af3b6365bab3186c/merged]
nvidia-container-cli: mount error: file creation failed: /var/lib/docker/overlay2/d059c71d32774ffbc53e591ffd2abb0b1d2c805b6e8bb8d7af3b6365bab3186c/merged/usr/lib/aarch64-linux-gnu/ file exists: unknown.

Please refer to docker: Error response from daemon: OCI runtime create failed: container_linux.go:380: starting container process caused: process_linux.go:545: · Issue #74 · dusty-nv/jetson-containers · GitHub

I believe you are running a container that doesn’t match your version of JetPack-L4T

can u suggest a docker container that matches my Jetpack / L4T version ? JetPack 4.5.1 / L4T 32.5

excusme. I suszpect that I gave you the wrong version. the correct version is :

R32 (release), REVISION: 5.1, GCID: 27362550, BOARD: t210ref, EABI: aarch64, DATE: Wed May 19 18:07:59 UTC 2021

L4T R32.5.1 and R32.5.0 share the same container, because there weren’t substantial changes to the filesystem in L4T R32.5.1. So on L4T R32.5.1 you can still use

it worked. I would like to install ubuntu 18.04 inside the container,to mimic totally the operating system that I use everyday on the jetson nano,ubuntu 18.04 with all the libraries and the components that Nvidia has installed on it. In this way,I can upgrade the main ubuntu 18.04 to a newer version (20.04 or even 21.04) and I can use the board for different pourpoises,like the virtualization. do u think that it’s a good idea ?

Hi @marietto2008, it already based on 18.04 and has the JetPack libraries in it.

yes,I checked it. but Ubuntu 18.04 OS isn’t there. Isn’t it a limitation ? For a newbie like me,it is. because I don’t know what to do with that container. But the same container + ubuntu 18.04 is more manageable.

l4t-ml uses l4t-base which uses ubuntu:18.04

You can run apt-get update && apt-get install xyz to install packages in the Ubuntu 18.04 repo. What is missing that you are looking for?

Can u tell me where is the Dockerfile of because I need to modify its internal structure to make it more close to a real ubuntu 18.04 installation. As u know,If I don’t modify it internally but I do only the apt-get install what I want,the changes will not stick when I close the container or I turn off the board.

Hi @marietto2008, you can find it at GitHub - dusty-nv/jetson-containers: Machine Learning Containers for NVIDIA Jetson and JetPack-L4T

Also, if you prefer you can write your own Dockerfile which uses as base, or use docker commit to save manual changes to a container.