You can use the OTA updates rather than SDK Manager to install anything as of JetPack 4.3. Before that release, you had to use a Linux desktop and SDK Manager, unfortunately.
sudo apt install cuda-core-10-0
Will install cuda itself, but it should already be installed on the default rootfs. If not (apt will tell you if it’s already installed or not), you must install nvidia’s apt key (available in the BSP tarball under the Linux_for_Tegra/nv_tegra/ folder) and then add teh apt sources to a sources.list. For nano the lines should look like this:
deb https://repo.download.nvidia.com/jetson/common r32 main
deb https://repo.download.nvidia.com/jetson/t210 r32 main
Some other packages:
$ sudo apt install cuda-
cuda-command-line-tools-10-0 cuda-curand-dev-10-0 cuda-license-10-0 cuda-nvprof-10-0
cuda-compiler-10-0 cuda-cusolver-10-0 cuda-memcheck-10-0 cuda-nvprune-10-0
cuda-core-10-0 cuda-cusolver-dev-10-0 cuda-minimal-build-10-0 cuda-nvrtc-10-0
cuda-cublas-10-0 cuda-cusparse-10-0 cuda-misc-headers-10-0 cuda-nvrtc-dev-10-0
cuda-cublas-dev-10-0 cuda-cusparse-dev-10-0 cuda-npp-10-0 cuda-nvtx-10-0
cuda-cudart-10-0 cuda-documentation-10-0 cuda-npp-dev-10-0 cuda-repo-l4t-10-0-local-10.0.326
cuda-cudart-dev-10-0 cuda-driver-dev-10-0 cuda-nsight-compute-addon-l4t-10-0 cuda-samples-10-0
cuda-cufft-10-0 cuda-gdb-10-0 cuda-nvcc-10-0 cuda-toolkit-10-0
cuda-cufft-dev-10-0 cuda-gdb-src-10-0 cuda-nvdisasm-10-0 cuda-tools-10-0
cuda-cuobjdump-10-0 cuda-gpu-library-advisor-10-0 cuda-nvgraph-10-0
cuda-cupti-10-0 cuda-libraries-10-0 cuda-nvgraph-dev-10-0
cuda-curand-10-0 cuda-libraries-dev-10-0 cuda-nvml-dev-10-0
You can use tab completion or “apt search” to look for specific package names or keywords, respectively.
Most of this is intalled on the rootfs by default, but if it’s not, you can apt-get what you want now.