is there any way to flash the xavier os from ubuntu18.04 to ubuntu 16.04?

i was used a pc with ubuntu16.04,and lots of library worked that i download from github.but it’s not working in the xavier ubuntu18.04,thus i set the envirorment as my pc,there always make or install problems,such as i use the apriltag_ros,and the zedm(the zedm support the sdk for xavier ,but the tutories need ubuntu16.04 and ros kinetic,when i launch the node,it will dead automaticly,crazy!

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Base path: /home/cpilab/catkin_ws_ap
Source space: /home/cpilab/catkin_ws_ap/src
Build space: /home/cpilab/catkin_ws_ap/build_isolated
Devel space: /home/cpilab/catkin_ws_ap/devel_isolated
Install space: /home/cpilab/catkin_ws_ap/install_isolated

~~  traversing 2 packages in topological order:
~~  - apriltag (plain cmake)
~~  - apriltag_ros

==> Processing plain cmake package: ‘apriltag’
Makefile exists, skipping explicit cmake invocation…
==> make cmake_check_build_system in ‘/home/cpilab/catkin_ws_ap/build_isolated/apriltag/devel’
==> make -j8 -l8 in ‘/home/cpilab/catkin_ws_ap/build_isolated/apriltag/devel’
[ 79%] Built target apriltag
[ 94%] Built target apriltag_python
[ 94%] Built target apriltag_demo
[100%] Built target opencv_demo
==> make install in ‘/home/cpilab/catkin_ws_ap/build_isolated/apriltag/devel’
[ 79%] Built target apriltag
[ 89%] Built target apriltag_python
[ 94%] Built target apriltag_demo
[100%] Built target opencv_demo
Install the project…
– Install configuration: “Release”
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/lib/libapriltag.so.3.1.0
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/lib/libapriltag.so.3
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/lib/libapriltag.so
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/apriltag.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/apriltag_math.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/apriltag_pose.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/build/apriltag_detect.docstring.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/build/apriltag_py_type.docstring.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/doubles.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/doubles_floats_impl.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/floats.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/g2d.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/getopt.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/homography.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/image_types.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/image_u8.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/image_u8x3.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/image_u8x4.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/matd.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/math_util.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/pam.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/pjpeg.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/pnm.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/postscript_utils.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/string_util.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/svd22.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/time_util.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/timeprofile.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/unionfind.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/workerpool.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/zarray.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/zhash.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/common/zmaxheap.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tag16h5.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tag25h9.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tag36h11.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tagCircle21h7.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tagCircle49h12.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tagCustom48h12.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tagStandard41h12.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/include/apriltag/tagStandard52h13.h
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/share/apriltag/cmake/apriltagConfig.cmake
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/share/apriltag/cmake/apriltagConfig-release.cmake
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/lib/pkgconfig/apriltag.pc
cp: 无法创建普通文件’/home/cpilab/.local/lib/python3.6/site-packages/apriltag.cpython-36m-aarch64-linux-gnu.so’: 权限不够
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/bin/opencv_demo
– Up-to-date: /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/bin/apriltag_demo
==> Generating an env.sh
<== Finished processing package [1 of 2]: ‘apriltag’

==> Processing catkin package: ‘apriltag_ros’
==> Building with env: ‘/home/cpilab/catkin_ws_ap/devel_isolated/apriltag/env.sh’
Makefile exists, skipping explicit cmake invocation…
==> make cmake_check_build_system in ‘/home/cpilab/catkin_ws_ap/build_isolated/apriltag_ros’
==> make -j8 -l8 in ‘/home/cpilab/catkin_ws_ap/build_isolated/apriltag_ros’
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target _apriltag_ros_generate_messages_check_deps_AprilTagDetection
[ 0%] Built target _apriltag_ros_generate_messages_check_deps_AnalyzeSingleImage
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target _apriltag_ros_generate_messages_check_deps_AprilTagDetectionArray
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 20%] Built target apriltag_ros_generate_messages_lisp
[ 20%] Built target apriltag_ros_generate_messages_cpp
[ 36%] Built target apriltag_ros_generate_messages_py
[ 50%] Built target apriltag_ros_generate_messages_eus
[ 60%] Built target apriltag_ros_generate_messages_nodejs
make[2]: *** 没有规则可制作目标“/usr/lib/aarch64-linux-gnu/libopencv_viz.so.3.2.0”,由“/home/cpilab/catkin_ws_ap/devel_isolated/apriltag_ros/lib/libapriltag_ros_common.so” 需求。 停止。
CMakeFiles/Makefile2:2659: recipe for target ‘CMakeFiles/apriltag_ros_common.dir/all’ failed
make[1]: *** [CMakeFiles/apriltag_ros_common.dir/all] Error 2
make[1]: *** 正在等待未完成的任务…
[ 60%] Built target apriltag_ros_generate_messages
Makefile:140: recipe for target ‘all’ failed
make: *** [all] Error 2
<== Failed to process package ‘apriltag_ros’:
Command ‘[’/home/cpilab/catkin_ws_ap/devel_isolated/apriltag/env.sh’, ‘make’, ‘-j8’, ‘-l8’]’ returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/cpilab/catkin_ws_ap/build_isolated/apriltag_ros && /home/cpilab/catkin_ws_ap/devel_isolated/apriltag/env.sh make -j8 -l8

Command failed, exiting.

Hi 18361273529, Ubuntu 18.04 is the supported OS version for Xavier, so you would use ROS Melodic with it.

From above, it looks like apriltag_ros is failing to build, but I can’t see the make error. On the apriltag_ros GitHub, it says that ROS Melodic is supported. Are you building it on the Xavier and did you export ROS_DISTRO=melodic first?

It also appears that Stereolab’s zed-ros-wrapper should work on ROS Melodic without modification:
https://github.com/stereolabs/zed-ros-wrapper/issues/456#issuecomment-517153305