##working

px4-jetson-xavier-nx-setup

1. xavier nx setup

● xavier nx setup

[click to see]

• used sdkmanager and jetpack4.5.1

● xavier nx setup - ROS1 melodic

[click to see]

• Set up the ROS melodic and I followed this site, which is based on jetson hacks

$ git clone https://github.com/jetsonhacks/installROSXavier.git
$ cd installROSXavier
$ ./installROS.sh -p ros-melodic-desktop
$ rosdep init
$ rosdep update
$ ./setupCatkinWorkspace.sh
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

● xavier nx setup - mavros setup

[click to see]

• mavrosthis site

$ sudo apt-get install ros-melodic-mavros ros-melodic-mavros-extras
$ cd && wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
$ sudo bash ./install_geographiclib_datasets.sh   

● xavier nx setup - realsense camera

[click to see]

• Set up realsense ros packages and I followed this site

not sure how to do this part   
in my case now the rgb camera is not working in ROS   

● xavier nx setup - VIO

[click to see]

$ cd ~/catkin_ws/src && git clone https://github.com/beomsu7/VIO
$ cd ~/catkin_ws && catkin_make && source devel/setup.bash

connect the fmu to xavier nx on xavier nx's gpio pin (3,5,7,9)