Title: Beginner Seeking Setup Help for ROS2 on Jetson Orin Nano and Onboard Simulation Options

Robotics & Edge Computing Jetson & Embedded Systems Jetson Orin Nano
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Hi everyone,

I’m very new to ROS2 and recently bought a Jetson Orin Nano to start learning. I’m struggling a bit with the initial setup and configuration, so any beginner-friendly guidance on setting up ROS2 on this device would be very helpful.

Also, I’m looking for an onboard simulation environment that the Orin Nano can handle. Unfortunately, Isaac Sim isn’t an option for me due to its high hardware requirements. Are there any lighter-weight simulation environments suitable for beginners that would run on the Orin Nano?

Thanks in advance for any advice or resources!

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Hi @david.workacc08, which version of JetPack are you on with your Orin Nano? If you are on JetPack 6 and Ubuntu 22.04, you can just install ROS Humble from apt (more or less following the same procedure as you would on x86)

We also have an apt repo here: Isaac Apt Repository — isaac_ros_docs documentation

For other versions, you can build ROS from source like I do in these containers: jetson-containers/packages/ros at master · dusty-nv/jetson-containers · GitHub

For onboard simulation, I have previously used Gazebo on Jetson: GitHub - dusty-nv/jetbot_ros: ROS nodes and Gazebo model for NVIDIA JetBot with Jetson Nano

However I’m not sure Gazebo is still working on Ubuntu 22.04 or not as it had not been maintained in leui of Ignition (which apparently is now back to Gazebo). I have also run MimicGen simulator on Jetson - some of those sims based on the Gym interface seem to work, others not.

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hi @dusty_nv i have installed jetpack 6, now i want to install ros2 is there a document for the installation. which is the best suitable ros2 version for my jetson orin nano development kit?

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Hi @david.workacc08, sorry just to round out on this - for starting with ROS2 on JetPack 6, that is 22.04 and tier-0 ROS support, so would just install from apt: Installation — ROS 2 Documentation: Humble documentation

I saw in your other thread the issue you encountered with Ignition, and while that would seem almost a separate issue due to how ROS and Gazebo are decoupled, would presume that you went down the apt path or similar already.

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