Is the Jetson AGX Orin compatible with "gazebo_ros "

czf18252825596 · 2024-11-04T06:53:08.058Z

I was running a launch file on the server of Jetson AGX Orin, and it said that I was missing the gazebo_ros package. Then I used the command “sudo apt install ros - humble - gazebo_ros-ros” to install the missing file, but it showed that the package could not be located.After I installed ROS2 using a virtual machine, this gazebo_ros package would come with it… Does anyone know what’s going on?

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carolyuu · 2024-11-04T07:00:11.079Z

Hi,
Here are some suggestions for the common issues:

1. Performance

Please run the below command before benchmarking deep learning use case:

$ sudo nvpmodel -m 0
$ sudo jetson_clocks

2. Installation

Installation guide of deep learning frameworks on Jetson:

TensorFlow: Installing TensorFlow for Jetson Platform - NVIDIA Docs
PyTorch: Installing PyTorch for Jetson Platform - NVIDIA Docs
We also have containers that have frameworks preinstalled:
Data Science, Machine Learning, AI, HPC Containers | NVIDIA NGC

3. Tutorial

Startup deep learning tutorial:

Jetson-inference: Hello AI World guide to deploying deep-learning inference networks and deep vision primitives with TensorRT and NVIDIA Jetson
TensorRT sample: Jetson/L4T/TRT Customized Example - eLinux.org

4. Report issue

If these suggestions don’t help and you want to report an issue to us, please attach the model, command/step, and the customized app (if any) with us to reproduce locally.

Thanks!

czf18252825596 · 2024-11-05T01:21:12.230Z

I don’t need deep learning. My question is to inquire whether the gazebo_ros package is incompatible with the Jetson AGX Orin server.

dusty_nv · 2024-11-05T08:54:46.447Z

Hi @czf18252825596, which version of JetPack and ROS2 are using? I think it’s not finding the gazebo_ros package because there isn’t an OSRF repo for that version of Ubuntu - you can try enabling the Isaac APT repo and see if it can be installed from there. Otherwise you can build it from source like I do in this Dockerfile:

github.com

dusty-nv/jetbot_ros/blob/d8e5ee1b17f5c66d038017b86f8920a496197ea9/Dockerfile#L72


      
              pip3 install protobuf>=2.6 --verbose && \

              pip3 install trollius --verbose && \

              pip3 install pynput --verbose

          

          ENV PYTHONPATH=/opt/py3gazebo

             

             

          #

          # Gazebo plugins for ROS

          #

          RUN source ${ROS_ROOT}/install/setup.bash && \

              export ROS_PACKAGE_PATH=${AMENT_PREFIX_PATH} && \

              cd ${ROS_ROOT} && \

              mkdir -p src/gazebo && \

              rosinstall_generator --deps --exclude RPP --rosdistro ${ROS_DISTRO} \

                    gazebo_ros_pkgs \

          	> ros2.${ROS_DISTRO}.gazebo.rosinstall && \

              cat ros2.${ROS_DISTRO}.gazebo.rosinstall && \

              vcs import src/gazebo < ros2.${ROS_DISTRO}.gazebo.rosinstall && \

              apt-get update && \

              rosdep install -y \

@Raffaello might have suggestions as well about how to enable it. Generally I just build things from source and work through any compilation issues. This is moreso related to the OS version and which have teir-0 support in the ROS distro you are currently using than it does about Jetson or AGX Orin in particular.

czf18252825596 · 2024-11-05T12:02:59.039Z

I’m using JetPack 5.1.2 and ros2 humble. I’m using a server to learn ros simulation. I also tried to copy gazebo_ros to the corresponding directory, but it still doesn’t work when I run it. I don’t understand how to enable the Isaac APT repository. Can you explain it in detail?