Preparation: Nvidia Agx Orin setup, details in Jetson AGX Orin Set-up.
Official link
Install development tools and ROS tools
Optional : Clean up ros-depended python packages and ros1-depended debian packages. If you have ros1 installed and do not clean up, dpkg error will report confict.
pip3 freeze | grep ros | xargs sudo pip3 uninstall -y
pip3 freeze | grep catkin | xargs sudo pip3 uninstall -y
sudo apt uninstall python3-rospkg python3-catkin-pkg
sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
Install common packages.
sudo apt update && sudo apt install -y \
python3-flake8-docstrings \
python3-pip \
python3-pytest-cov \
ros-dev-tools
sudo pip3 install -U \
flake8-blind-except \
flake8-builtins \
flake8-class-newline \
flake8-comprehensions \
flake8-deprecated \
flake8-import-order \
flake8-quotes \
"pytest>=5.3" \
pytest-repeat \
pytest-rerunfailures
Init rosdep and install dependcies.
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
Build from colon
colcon build --symlink-install
However, it throws python_orocos_kdl_vendor Could NOT find Python3 (missing: Python3_LIBRARIES Python3_INCLUDE_DIRS Development)
So, I rebuild them py passing python3 location:
colcon build --symlink-install --cmake-args \
-DPython3_EXECUTABLE=/usr/bin/python3 \
--packages-up-to python_orocos_kdl_vendor
colcon build --symlink-install --cmake-args \
-DPYTHON_INCLUDE_DIR=$(python3 -c "import sysconfig; print(sysconfig.get_path('include'))") \
-DPYTHON_LIBRARY=$(python3 -c "import sysconfig; print(sysconfig.get_config_var('LIBDIR'))")