How to install ROS 2 Crystal Clemmys from source on Ubuntu 18.04 for NVIDIA Jetson Modules

How to install ROS 2 Crystal Clemmys from source on Ubuntu 18.04 for NVIDIA Jetson Modules

Jetson AGX Xavier | Jetson Nano | Jetson TX2 NX | Jetson Xavier NX

25 June 2021

Installing ROS 2 Crystal Clemmys on Ubuntu 18.04 for NVIDIA Jetson Modules


In this blog post, we will talk about how to install ROS 2. ROS 2 has multiple versions of ROS2 but only Crystal Clemmys is supported by Ubuntu 18.04.


All the steps were taken from the official tutorial: https://docs.ros.org/en/crystal/Installation/Linux-Install-Binary.html


You should authorize the GPG key and add the ROS 2 apt repositories to the system.


sudo apt update
sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -


Click here and download the latest package for Linux (ros2-crystal-20191212-linux-bionic-amd64.tar.bz2). 


https://github.com/ros2/ros2/releases/tag/release-crystal-20191212

Creating a Workspace for ROS 2 Environment


Now we should create a workspace extract it to the workspace that you created like the code below. 


mkdir -p ~/ros2_crystal/src
cd ~/ros2_crystal
tar xf ~/Downloads/ ros2-crystal-20191212-linux-bionic-amd64.tar.bz2


You should install and initialize rosdep.


sudo apt update
sudo apt install -y python-rosdep
sudo rosdep init # if already initialized you may continue
rosdep update

Installing Dependencies and Setting up an Environment 


Install the missing dependencies as a code below.


CHOOSE_ROS_DISTRO=crystal
rosdep install --from-paths ros2-linux/share --ignore-src --rosdistro $CHOOSE_ROS_DISTRO -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 osrf_testing_tools_cpp poco_vendor rmw_connext_cpp rosidl_typesupport_connext_c rosidl_typesupport_connext_cpp rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"


Install python3 libraries


sudo apt install -y libpython3-dev

Setting Up an Environment


Finally, you should set up your environment with the source below.


. ~/ros2_crystal/ros2-linux/setup.bash

Test ROS 2 Environment for NVIDIA Jetson Modules


Let's test with some examples. Open two different terminals. In one of them, source the setup file and run the C++ talker. You should see the terminal like the picture below.



In the other terminal, source the setup file and run the Python listener. You should see the terminal like the picture below.


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