> For the complete documentation index, see [llms.txt](https://lamhung81-2.gitbook.io/github-basic-tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://lamhung81-2.gitbook.io/github-basic-tutorial/working-in-jetson-nano.md).

# Working in Jetson Nano

1. Pixhawk connects with Jetson Nano through the ttyACM0 and ttyUSB0.

However, when launch roslaunch px4.launch (over ttyACM0), there is problem of permission. Therefore, we need to do

```
sudo chmod 777 /dev/ttyACM0
```

Then everything is ok

1. Becareful with the key when install ros in jetson nano. May be need to delete and install new key by

`sudo apt-key del ....`

`sudo -E apt-key adv --keyserver ' .....' --recv-key .....`

then need to do update

```
sudo apt clean && sudo apt update
```

1. For installing and compile mavlink

```
sudo pip install lxml future
```

1. install geographics-msgs

```
sudo -H apt-get install -y ros-melodic-geographics-msgs
```

1. Install geographiclib

```
wget ....install_geographiclib_datasets.sh
```

```
sudo chmod 777 install_geographiclib_datasets.sh
```

```
sudo ./install_geographiclib_datasets.sh
```

1. install libgeographic-dev

```
sudo apt-get install libgeographic-dev
```

1. Note that when compile mavros, it take time and computer resources, so may need to specify the processor core for that purpose, to avoid stuck.

Mavlink and mavros folder containning modifications corresponding to custom messages are copied from the auv7530 to jetson nano, then compile and work properly.

After install opencv, cuda, i3s vision sensor, cutecom, mavlink, mavros .... in 64 GB microSD card, there is 25GB available.