Load the standard ISO from Nvidia to the Jetson Nano board. Then use the Dockerfile to create a docker image that installs all the necessary dependencies to run ROS2 ZED Wrapper.

I found that ROS2 ZED Wrapper needs Humble but the only Jetson Nano container I could find would be Ubuntu 18 with ROS2 Humble installed. From there I was given a hint to use C++11 where the default is C++7.

I also needed to use Python 3.8 to compile ZED ROS2 Wrapper, but I needed Python 3.6 to build ZED SDK. So I switch between them. At the end to run the wrapper, because ROS2 used Python 3.6, I have to switch back to Python 3.6 to load the ZED ROS2 Wrapper.

docker build -f Dockerfile .

--no-cache will rebuild the Docker image from the beginning. If you do not include this, it will only build modified or new sections in the docker file.

docker build -f Dockerfile . --no-cache

docker run --runtime nvidia -it --privileged --ipc=host --pid=host --net=host  --gpus all <docker image>

--net=host allows the ROS2 topics to be seen on the network. --gpus all allows the docker file have access to the GPU. -it runs the docker container in the terminal -e ZED_CAMERA_MODEL="<camera_model> will set the camera model to use to automatically run the wrapper. Options are 'zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm'.

ros2 launch zed_wrapper zed_camera.launch.py camera_model:=<camera_model>
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zedm

I assume we can ignore these errors. The wrapper loads fine.

--- stderr: zed_wrapper
In file included from /root/ros2_ws/install/zed_components/include/zed_components/zed_camera_component.hpp:19,
                 from /root/ros2_ws/src/zed-ros2-wrapper/zed_wrapper/src/zed_wrapper.cpp:17:
/usr/local/zed/include/sl/Fusion.hpp:68:64: note: ‘#pragma message: ~ FUSION SDK is distributed in Early Access ~’
   68 | #pragma message("~ FUSION SDK is distributed in Early Access ~")
      |                                                                ^
---
...

Summary: 45 packages finished [24min 49s]
  2 packages had stderr output: zed_components zed_wrapper