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Ros2 crystal is the last release to officially support Ubuntu 16.04. If you use crystal, you'll have to build it from source (hence tier 2 support) to work on the TX2.
You can run ros kinetic along-side ros2, but for them to talk to each other at all, you'll have to use the ros1-bridge. That'll let you bridge ros1->ros2 and ros2->ros1.
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