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

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.