clearpathrobotics · civerachb-cpr · Jul 2, 2025 · Jul 2, 2025 · Jul 2, 2025 · Jul 2, 2025
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 title: Joystick Controller Pairing
 sidebar_label: Joystick Controller
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+---
+title: Nvidia Installation
+sidebar_label: Nvidia Installation
+sidebar_position: 3
+toc_min_heading_level: 2
+toc_max_heading_level: 4
+---
+
+:::note
+
+This page explains how to install Ubuntu 22.04 and ROS 2 Humble on an Nvidia Jetson computer.
+
+For installation instructions on a standard `x86_64` or `amd64` computer, see [Robot Installation](robot.mdx)
+
+:::
+
+## Install SDK Manager
+
+To install the OS on Nvidia Jetson computers, download Nvidia's [SDK Manager](https://developer.nvidia.com/sdk-manager)
+program. This program is available for Ubuntu (as a `.deb` package), Windows (as a `.exe`), and in a Docker container.
+
+Download and install the appropriate version for your desktop from [Nvidia's website](https://developer.nvidia.com/sdk-manager).
+
+## Install JetPack 6.2 and SDKs
+
+Follow the instructions for your Jetson computer to power it on and connect it via USB to your desktop. Open SDK Manager.
+
+<center>
+  <figure>
+    <img
+      src={require("./img/jetpack_detect_board.png").default}
+      width="900"
+    />
+  </figure>
+</center>
+
+### Select harget hardware
+
+Ensure the **Jetson** category at the top of the window is checked and that the **Target Hardware** matches your
+model of Jetson computer. If the board is not detected, refer to the instructions provided with your Jetson computer
+for any additional steps that may be be needed, such as entering bootloader mode.
+
+### Select SDK version
+
+Select SDK version `6.2.x` (`6.2.1` is the latest at the time of writing).
+
+### Additional SDKs
+
+If desired, you may install additional SDKs. These are not required for ROS 2 Humble, but may be needed for specific
+applications you intend to run on your robot.
+
+### Start the installer
+
+After selecting the appropriate options, click the green **Continue** button in the lower right of the window.
+
+## Details and license
+
+Review the selected components. You may customize which specific components will be installed by checking or
+unchecking them.
+
+<center>
+  <figure>
+    <img
+      src={require("./img/jetpack_details.png").default}
+      width="900"
+    />
+  </figure>
+</center>
+
+Check the license agreement at the bottom of the window and click the green **Continue** button.
+
+If the **Download folder** and **SDKs instakll folder** specified at the bottom of the window do not already exist on
+your computer you will be prompted to create them. If this happens, click the green **Create** button.
+
+<center>
+  <figure>
+    <img
+      src={require("./img/jetpack_create.png").default}
+      width="400"
+    />
+  </figure>
+</center>
+
+If you are running on Ubuntu you may be asked to enter your password to run some commands as `root`.
+
+### Wait for the download and installation to progress
+
+Wait for JetPack to downloading and install. Depending on your internet connection speed this may take some
+time.
+
+<center>
+  <figure>
+    <img
+      src={require("./img/jetpack_progress.png").default}
+      width="900"
+    />
+  </figure>
+</center>
+
+The download and installation progress is shown at the bottom of the screen. If you need to pause the process, you can
+press the green **Pause** button and resume the installation at a later time.
+
+## Flash the Jetson
+
+:::note
+
+Some Jetson computers skip this step. Please refer to the instructions for your specific computer.
+
+For example, **Forcecr** boards use a different set of steps, [documented here](https://www.forecr.io/blogs/installation/jetpack-6-x-installation-for-dsboard-ornx).
+
+:::
+
+After the download has proceeded sufficiently, SDK Manager will prompt you to flash your Jetson computer.
+
+<center>
+  <figure>
+    <img
+      src={require("./img/jetpack_flash.png").default}
+      width="900"
+    />
+  </figure>
+</center>
+
+Enter the username and password you intend to use to log into the Jetson computer. By default Clearpath Robotics uses
+the username `administrator` and the password `clearpath`.
+
+When ready, click the green **Flash** button at the bottom of the window.
+
+## Post-installation configuration
+
+Once the core OS and Jetson APIs are installed the next step is to install the necessary ROS components to allow the
+computer to control your robot.
+
+Connect the Jetson to the internet, log in, and run the following commands to download and run Clearpath's
+Jetson setup script:
+
+```bash
+wget https://github.com/clearpathrobotics/clearpath_computer_installer/refs/heads/feature/humble-jetson/jetson-humble-setup.bash
+bash jetson-humble-setup.bash
+```
+
+This script will:
+- (re-)configure `apt` with addional sources;
+- install additional `apt` and `pip` packages needed for Clearpath robots;
+- install core ROS components;
+- create and build a ROS workspace (`$HOME/colcon_ws`);
+- install additional Linux kernel modules; and
+- configure your robot's initial `/etc/clearpath/robot.yaml` file.
+
+### Missing ROS dependencies
+
+Manually running `rosdep install` in the generated workspace will result in warnings about some missing dependencies.
+This is normal; the missing dependencies are for Clearpath platforms that are not supported on Jetson computers.
+
+If you see warnings about the following dependencies being uninstallable, you may safely ignore them:
+
+| Package                          | Notes                                                                                                            |
+|:-------------------------------- |:---------------------------------------------------------------------------------------------------------------- |
+| `sevcon_traction`                | Needed by Warthog W200, which cannot use an Nvidia Jetson as its primary computer                                |
+| `ros-humble-gazebo-ros2-control` | Needed for simulation support by `ros2_kortex` (Kinova manipulator driver). Not currently available for ARM CPUs |
+
+## Building additional kernel modules
+
+At the time of writing, JetPack 6.1 installs the kernel `5.15.148-tegra`. This kernel by default does not include the
+`uinput` and `slcan` modules. Clearpath has [pre-built copies](https://github.com/clearpathrobotics/clearpath_computer_installer/tree/feature/humble-jetson)
+of these modules for kernel `5.15.148-tegra`.
+
+If you have a different kernel, or want to build these modules yourself, follow
+[Nvidia's developer guide](https://docs.nvidia.com/jetson/archives/r36.4.4/DeveloperGuide/SD/Kernel/KernelCustomization.html).
+The essential steps are summarized below, but refer to Nvidia's kernel customization guide for more details.
+
+:::note
+
+The following instructions assume you are building the kernel and modules directly on the Jetson. To cross-compile,
+refer to Nvidia's developer guide.
+
+:::
+
+### Install prerequisites
+
+Run the following command:
+
+```bash
+sudo apt-get install build-essential bc flex bison libssl-dev zstd
+```
+
+### Download and extract the kernel sources
+
+:::note
+
+At the time of writing, the latest kernel sources are available at https://developer.nvidia.com/embedded/jetson-linux-r3644
+
+:::
+
+Run the following commands:
+
+```bash
+cd $HOME
+wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v4.4/sources/public_sources.tbz2
+tar xf public_sources.tbz2
+cd Linux_for_Tegra/source
+tar xf kernel_src.tbz2
+```
+
+### Customize the kernel modules
+
+To enable the `slcan` and `uinput` modules you must edit the kernel configuration file.
+
+```bash
+echo "CONFIG_CAN_SLCAN=m" >> $HOME/Linux_for_Tegra/source/kernel/kernel-jammy-src/arch/arm64/configs/defconfig
+echo "CONFIG_INPUT_UINPUT=m" >> $HOME/Linux_for_Tegra/source/kernel/kernel-jammy-src/arch/arm64/configs/defconfig
+```
+
+### Build the kernel and modules
+
+:::note
+
+This step can take some time. Be patient.
+
+:::
+
+Run the following commands to build the kernel and modules:
+
+```bash
+cd $HOME/Linux_for_Tegra/source
+mkdir kernel_out
+./nvbuild.sh
+```
+
+### Install the modules
+
+After the build finishes, run the following commands to install the new modules:
+
+```bash
+cd $HOME/Linux_for_Tegra/source/kernel_out/kernel/kernel-jammy-src
+sudo cp drivers/net/can/socat.ko /lib/modules/$(uname -r)/kernel/drivers/net/can/
+sudo cp drivers/input/misc/uinput.ko /lib/modules/$(uname -r)/kernel/drivers/input/misc/
+sudo depmod
+sudo modprobe slcan
+sudo modprobe uinput
+```
+
+## Installing firmware updates
+
+If you need to [install firmware updates](robot#firmware-update) for your robot, you must install the
+`clearpath_firmware` package on an `amd64` (aka `x64` or `x86_64`) [offboard computer](offboard_pc); the
+`clearpath_firmware` package is not available for ARM processors as a debian package.
+
+Connect the robot's MCU directly to the offboard computer (using either ethernet or USB, as appropriate for your
+model of robot) and run
+```bash
+ros2 run clearpath_firmware flash
+```
+on the offboard computer to update the firmware.
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 title: Offboard Computer Setup
 sidebar_label: Offboard Computer
-sidebar_position: 3
+sidebar_position: 4
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@@ -13,13 +13,16 @@ import ComputerNetworkingSetupInstall from "../../components/networking/_compute
 ## Operating System (OS) {#operating-system}
 
 ROS 2 Humble uses Ubuntu 22.04 as its Tier 1 operating system.
-Though other operating systems are supported, it is highly recommended to use Ubuntu 22.04. 
+Though other operating systems are supported, it is highly recommended to use Ubuntu 22.04.
 The preferred method is using the Clearpath Robotics ISO image, which is covered in this section.
 
 :::note
 
 The Clearpath Robotics ISO image only targets x86 computers (`amd64` architecture).
 
+For installation on [Nvidia Jetson](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/) devices
+see [Nvidia Installation](nvidia.mdx).
+
 :::
 
 Clearpath provides a lightly customized installation image of Ubuntu 22.04 that has the needed script to setup the robot.

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 title: Joystick Controller Pairing
 sidebar_label: Joystick Controller
-sidebar_position: 5
+sidebar_position: 7
 toc_min_heading_level: 2
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@@ -0,0 +1,17 @@
+---
+title: Nvidia Installation
+sidebar_label: Nvidia Installation
+sidebar_position: 3
+toc_min_heading_level: 2
+toc_max_heading_level: 4
+---
+
+:::note
+
+Nvidia does not currently support installing Ubuntu 24.04 on Jetson computers.  ROS 2 Jazzy cannot
+be used on Jetson computers at this time.
+
+To install Ubuntu 22.04 and ROS 2 Humble on a Jetson computer, see the
+[Humble installation guide](/docs/ros2humble/ros/installation/nvidia).
+
+:::
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 title: Offboard Computer Setup
 sidebar_label: Offboard Computer
-sidebar_position: 4
+sidebar_position: 5
 toc_min_heading_level: 2
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 title: Installing Updates
 sidebar_label: Installing Updates
 sidebar_position: 1
-toc_min_heading_level: 2
+toc_min_heading_level: 4
 toc_max_heading_level: 4
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 title: Upgrading to Jazzy
 sidebar_label: Upgrading to Jazzy
-sidebar_position: 2
+sidebar_position: 6
 toc_min_heading_level: 2
 toc_max_heading_level: 4
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