Installing ROS2 Humble On Ubuntu 20.04 Of A Jetson Nano

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Introduction

When delving into the world of robotics and embedded systems, the Robot Operating System (ROS) stands out as a powerful and versatile framework. ROS2, the latest iteration, offers significant improvements over its predecessor, including enhanced real-time capabilities, security features, and support for diverse hardware platforms. For developers working with NVIDIA's Jetson Nano, installing ROS2 Humble on Ubuntu 20.04 is a crucial step towards building intelligent robotic applications. However, the installation process can sometimes be challenging, with users encountering various errors along the way. This comprehensive guide aims to provide a detailed walkthrough of installing ROS2 Humble on a Jetson Nano running Ubuntu 20.04, while also addressing common issues and troubleshooting steps to ensure a smooth installation experience. Whether you are a seasoned roboticist or a beginner, this article will equip you with the knowledge and resources needed to successfully set up your ROS2 environment on the Jetson Nano.

Prerequisites

Before diving into the installation process, it's essential to ensure that your Jetson Nano meets the necessary prerequisites. This section outlines the hardware and software requirements, as well as initial setup steps, to ensure a solid foundation for installing ROS2 Humble.

  1. Hardware Requirements:

    • Jetson Nano Developer Kit: A Jetson Nano Developer Kit is the primary hardware requirement. Ensure that you have the latest version of the kit for optimal performance.
    • Power Supply: A reliable power supply is crucial for the Jetson Nano. NVIDIA recommends a 5V/4A power supply for stable operation, especially when running demanding applications.
    • MicroSD Card: A microSD card with at least 32GB of storage is recommended for installing the operating system and ROS2. A faster card (UHS-I Speed Class U3 or higher) will improve overall performance.
    • Display and HDMI Cable: A display with an HDMI input and an HDMI cable are needed to connect the Jetson Nano and view the graphical interface.
    • USB Keyboard and Mouse: A USB keyboard and mouse are necessary for interacting with the Jetson Nano during the installation and setup process.
    • Ethernet Connection or Wi-Fi Adapter: An internet connection is required to download ROS2 packages and dependencies. You can use an Ethernet connection for a stable wired connection or a Wi-Fi adapter for wireless connectivity.

  2. Software Requirements:

    • Ubuntu 20.04 LTS: ROS2 Humble officially supports Ubuntu 20.04 LTS (Focal Fossa). Ensure that your Jetson Nano is running this version of Ubuntu.
    • JetPack SDK: NVIDIA's JetPack SDK includes the necessary drivers, libraries, and tools for the Jetson Nano. It's recommended to install the latest compatible version of JetPack for Ubuntu 20.04.

  3. Initial Setup Steps:

    • Flashing the Jetson Nano: Download the JetPack SDK image for Ubuntu 20.04 from the NVIDIA developer website. Use a tool like balenaEtcher to flash the image onto the microSD card.
    • Booting the Jetson Nano: Insert the microSD card into the Jetson Nano and connect the peripherals (display, keyboard, mouse). Power on the device, and it should boot into the Ubuntu 20.04 setup screen.
    • Initial System Configuration: Follow the on-screen prompts to configure the system, including setting the username, password, and network settings. Ensure that you have a stable internet connection during this process.
    • Updating the System: Open a terminal and run the following commands to update the package lists and upgrade the installed packages:
sudo apt update
sudo apt upgrade

By ensuring that these prerequisites are met, you'll have a solid foundation for installing ROS2 Humble on your Jetson Nano. The next section will walk you through the detailed installation steps, including setting up the ROS2 repositories, installing the necessary packages, and configuring the environment.

Installing ROS2 Humble

With the prerequisites in place, we can now proceed with the installation of ROS2 Humble. This section provides a step-by-step guide, ensuring a smooth and successful setup. Each step is explained in detail, along with code snippets for clarity and ease of execution.

  1. Setting up the ROS 2 GPG Key:

    The first step involves setting up the GPG key for the ROS2 repository. This key is used to verify the authenticity of the packages you'll be downloading. Execute the following commands in your terminal:

sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

These commands first update the package lists and install necessary tools like `curl`, `gnupg`, and `lsb-release`. Then, it downloads the **ROS2** GPG key and stores it in the `/usr/share/keyrings` directory.

  1. Adding the ROS 2 Repository:

    Next, you need to add the ROS2 Humble repository to your system's package sources. This allows apt to find and install ROS2 packages. Use the following command:

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

This command adds the **ROS2** repository URL to your system's software sources. The `$(dpkg --print-architecture)` part ensures that the correct architecture is used (e.g., arm64 for Jetson Nano), and `$(lsb_release -cs)` retrieves the Ubuntu codename (e.g., focal for Ubuntu 20.04).

  1. Installing ROS 2 Packages:

    Now that the repository is set up, you can install ROS2 Humble. There are different installation options available, ranging from a minimal setup to a full desktop installation. For most users, the desktop installation is recommended as it includes essential tools and libraries. Run the following commands to update the package lists and install ROS2:

sudo apt update
sudo apt install ros-humble-desktop

The `sudo apt update` command refreshes the package lists, and `sudo apt install ros-humble-desktop` installs the desktop version of **ROS2 Humble**. This process may take some time depending on your internet connection and system performance.

  1. Setting up the Environment:

    After the installation is complete, you need to set up the ROS2 environment variables. This involves sourcing the ROS2 setup script, which adds ROS2 commands and paths to your shell environment. Open a new terminal and run:

source /opt/ros/humble/setup.bash

This command needs to be executed in every new terminal you open to work with **ROS2**. To make this permanent, you can add it to your `.bashrc` file:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

The first command appends the source command to your `.bashrc` file, and the second command sources the `.bashrc` file to apply the changes to your current terminal session.

  1. Verifying the Installation:

    To verify that ROS2 Humble is installed correctly, you can run a simple ROS2 command. Open a new terminal and type:

ros2 --version

If **ROS2** is installed correctly, this command will display the version number of **ROS2 Humble**. Another way to verify the installation is to run a demo program. Open three terminals. In the first terminal, run:

ros2 run demo_nodes_cpp talker

In the second terminal, run:

ros2 run demo_nodes_py listener

The `talker` node will publish messages, and the `listener` node will subscribe to and display those messages. If you see messages being exchanged between the nodes, your **ROS2** installation is successful. In the third terminal, you can inspect the **ROS2** graph using:

rqt_graph

This tool provides a graphical representation of the **ROS2** nodes and topics, allowing you to visualize the communication flow within your system.

By following these steps, you should have ROS2 Humble successfully installed on your Jetson Nano. The next section will address common issues encountered during installation and provide troubleshooting tips to resolve them.

Troubleshooting Common Issues

While the installation process is generally straightforward, users may encounter issues due to various reasons, such as network connectivity problems, package conflicts, or incorrect configurations. This section addresses common problems faced during the installation of ROS2 Humble on Ubuntu 20.04 on a Jetson Nano and provides troubleshooting steps to resolve them.

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