How to install ROS on Nvidia Jetson Nano with OpenCV/Cuda ?

asked 2020-10-26 14:34:03 -0500

elpidiovaldez gravatar image

This question is about achieving what I consider to be my dream ROS machine:

  • Nvidia Jetson Nano
  • ROS Melodic
  • OpenCV with Cuda support AND gstreamer support (gstreamer is necessary to access Pi Camera V2)

I think that a lot of people will want to use the Nano + ROS + Pi camera so it would be really helpful to have a reliable, well documented installation procedure starting from a base machine with JetPack 4.3 or 4.4.

The Jetson purports ease installations using JetPack, but it is not so simple !

JetPack 4.4 comes with OpenCV 4.1.1 installed with gstreamer, but without CUDA support. Neither ROS nor Caffe can use OpenCv 4.x.

So how can I install ROS and OpenCV in order to get everything working, and OpenCV using CUDA and gstreamer ? I am looking for the least hacky approach, using the correct versions. Install from binaries would be great, but if I have to build everything, at least do it in a straightforward way. If it makes things easier I do not mind using an older version of JetPack. Should I remove the existing OpenCV 4.1.1 or will that cause more problems ?

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