ROS2 on AGX Xavier

michael.zill · May 3, 2020, 7:40am

I’d like to start to port my ROS1 based solution on a AGX Xavier to ROS2. Is anyone running ROS2 on the Xavier? I’ve also seen that the next release of ROS2 Foxy Fitzroy is targeting Ubuntu 20.04. L4T R32.4.2 is based on Ubuntu 18.04 - any idea when we can expect L4T based on 20.04?

Thanks
Michael

linuxdev · May 7, 2020, 5:24am

I cannot answer, but I saw something you might find of interest:
https://forums.developer.nvidia.com/t/xubuntu-20-04-focal-fossa-l4t-r32-3-1-custom-image-for-the-jetson-nano/121768

Andrey1984 · May 3, 2020, 10:22pm

I gave it a short try. It seems installable on AGX Xavier using default Ubuntu installation instructions.

Andrey1984 · May 16, 2020, 6:10pm

I also can confirm that Autoware.Auto installs somehow on AGX. It is also ROS2 based
https://answers.ros.org/question/352261/implementing-autoware-auto-examples-on-nvidia-jetson-aarch64/

kimate21 · May 22, 2020, 8:11pm

I am running ROS 2 on my Nano which I imagine would be the same for my new Xavier but I will let you know this weekend.

Andrey1984 · May 24, 2020, 6:52am

you may also build a ros container based on l4t; to run it on nano with nvidia docker. there default aarch ros containers run, but have some issue with libGL
https://hub.docker.com/r/arm64v8/ros/

github.com

osrf/docker_images/blob/master/README.md#ros2--

# OSRF Docker Images

This repo hosts Dockerfiles and scaffolding for images in the Official Library and OSRF Organization on Docker Hub.

## Table of Contents
[Official docker library](https://github.com/osrf/docker_images/blob/master/README.md#official-library)<br/>
[Official ROS (1 and 2) images](https://github.com/osrf/docker_images/blob/master/README.md#ros--)<br/>
[Official Gazebo images](https://github.com/osrf/docker_images/blob/master/README.md#gazebo--)<br/>
[OSRF ROS (1 and 2) overlay images](https://github.com/osrf/docker_images/blob/master/README.md#ros---1)<br/>
[OSRF ROS 2 development images](https://github.com/osrf/docker_images/blob/master/README.md#ros2--)<br/>
[OSRF Gazebo overlay images](https://github.com/osrf/docker_images/blob/master/README.md#gazebo---1)<br/>
[OSRF ROS Legacy images](https://github.com/osrf/docker_images/blob/master/README.md#ros-legacy--)<br/>

| CI | Status |
|---|---|
| ROS | [![Build Status](https://github.com/osrf/docker_images/workflows/CI%20ROS%20images/badge.svg?branch=master)](https://github.com/osrf/docker_images/actions?query=workflow%3A%22CI+ROS+images%22+event%3Aschedule)
| ROS 2 | [![Build Status](https://github.com/osrf/docker_images/workflows/CI%20ROS%202%20images/badge.svg?branch=master)](https://github.com/osrf/docker_images)
| Gazebo | [![Build Status](https://github.com/osrf/docker_images/workflows/CI%20Gazebo%20images/badge.svg?branch=master)](https://github.com/osrf/docker_images/actions?query=workflow%3A%22CI+Gazebo+images%22+event%3Aschedule)

---

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kimate21 · June 10, 2020, 10:33pm

Confirmed, running ROS2 on Xavier with no issues.

kimate21 · June 12, 2020, 4:34pm

Andrey1984 · June 13, 2020, 7:22pm

Thank you for sharing.

dusty_nv · July 31, 2020, 7:16pm

FYI, here is a Dockerfile for building ROS2 Foxy on L4T R32.4 (Ubuntu 18.04):

github.com

dusty-nv/jetson-containers/blob/master/Dockerfile.ros.foxy

#
# this dockerfile roughly follows the 'Install ROS From Source' procedures from:
#   https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/
#
ARG BASE_IMAGE
FROM ${BASE_IMAGE}

ARG ROS_PKG=ros_base
ENV ROS_DISTRO=foxy
ENV ROS_ROOT=/opt/ros/${ROS_DISTRO}

ENV DEBIAN_FRONTEND=noninteractive

WORKDIR /workspace

# change the locale from POSIX to UTF-8
RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
ENV LANG=en_US.UTF-8

# add the ROS deb repo to the apt sources list

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Andrey1984 · August 1, 2020, 4:55pm

Thank you for the update!
I did not try the foxy on Jetson as it would seem to require 20.04,

but I used to test ROS2 dashing container with realsense
https://github.com/AndreV84/jetson-containers/tree/master/ros2_realsense

recently Intel seem revoked support for ROS2 realsense though
ref: https://github.com/ros/rosdistro/pull/25814

dusty_nv · August 2, 2020, 2:26am

In my experience Foxy doesn’t require 20.04, that’s just what the ROS maintainers provide the pre-built binaries for. So in that Dockerfile I built it from source for 18.04.