Jetson_setup

Flashing

This guide walks through the full setup process for a Jetson Orin Nano 8GB, including flashing the board, installing ROS 2 Humble, and configuring Zenoh middleware.

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🔧 Flashing the Jetson Orin Nano

We follow the Seeed Studio Flashing Tutorial, specifically for the J3011 carrier board.

⚠️ Use the Step-by-Step Flashing Instructions for J3011 board and Jetson Orin Nano 8GB

1. Use the Use "Flash the Device Step by Step". Do not use the one-liner command — it does not work reliably.
2. We want Jetpack 6.1 with Ubuntu 22.04.
3. Before proceeding to Step 3 of the flashing tutorial, run the following:

sudo rm /etc/exports
sudo ufw disable
sudo systemctl stop firewalld
sudo snap revert snapd  # Only if you see SELinux-related errors

4. Reboot the device by unplugging and plugging back in the power supply.

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🤖 Installing ROS 2 Humble

We follow the steps in: ROS_HUMBLE_INSTALL

⚠️ Important: You must hold back certain kernel packages before running sudo apt upgrade.

sudo apt update
sudo apt-mark hold nvidia-l4t-kernel \
                  nvidia-l4t-kernel-headers \
                  nvidia-l4t-jetson-io \
                  nvidia-l4t-kernel-oot-modules \
                  nvidia-l4t-display-kernel \
                  nvidia-l4t-kernel-oot-headers \
                  nvidia-l4t-kernel-dtbs

sudo apt upgrade

When prompted about nv_tegra_release, select N.

After installing ROS 2 Humble, Install Zenoh (more efficient middleware than DDS, FastDDS, CycloneDDS)

sudo apt install ros-humble-rmw-zenoh-cpp

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🧹 Post-Install Setup and Peripherals

Update .bashrc

Add the following lines to the end of your ~/.bashrc file:

source /opt/ros/humble/setup.bash
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
export RMW_IMPLEMENTATION=rmw_zenoh_cpp

Then apply it:

source ~/.bashrc

Useful Tools

sudo apt install firefox terminator curl
curl -L -o vscode_arm64.deb 'https://code.visualstudio.com/sha/download?build=stable&os=linux-deb-arm64'
sudo apt install ./vscode_arm64.deb

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📦 ROS Packages for NeuROAM

Visit:
👉 https://github.com/neufieldrobotics/NeuROAM/tree/Drivers
Follow instructions there to install the rest of the required ROS packages.

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