We use X2Go.

https://teawiki.net/doku.php?id=workshops:nvidia_jetson:xavier_nx:start

Change the Jetson runlevel to non-GUI to switch off the gnome display manager (or other DM) to free memory.

Instead enable graphical login with X2Go.

# Temporary
sudo systemctl isolate multi-user.target

# Permanent
sudo systemctl set-default multi-user.target

• NVIDIA Forum on ROS2 on Jetson Nano

https://nvidia-ai-iot.github.io/ros2_jetson/ros2-jetson-dockers/

https://github.com/dusty-nv/jetson-containers#ros-containers

git clone https://github.com/dusty-nv/jetson-containers
cd jetson-containers

./scripts/l4t_version.sh 

# Result:
# ARCH:  aarch64
# reading L4T version from /etc/nv_tegra_release
# L4T BSP Version:  L4T R32.7.3

Can't find docker image for L4T 32.7.2

https://github.com/dusty-nv/jetson-containers/issues/177

Harley's tutorial for setting up ROS on NVIDIA Jetson Xavier NX. It is not applicable to Jetson Nano because binaries are not provided in the repos.

Harley suggests to use https://docs.ros.org/en/eloquent/Installation/Linux-Development-Setup.html