Nvidia Jetson setup to work with Realsense and OSC

Setting up the Nvidia Jetson to work with modern SDKs like the realsense sdk is quite a hassle, since the Jetson Nano installed Ubuntu 18.04 by default.

Follow this blog post to update to 20.04: Install Ubuntu 20.04 on Jetson Nano - Q-engineering

oscpp

To install on an Nvidia jetson, download the source, modify ./oscpp/endian.hpp to work with arm chips. By adding this line: || defined(__aarch64__) || defined(_M_ARM64). Below is a working hpp file:

// Copyright 2005 Caleb Epstein
// Copyright 2006 John Maddock
// Copyright 2010 Rene Rivera
// Distributed under the Boost Software License, Version 1.0. (See accompany-
// ing file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
 
/*
 * Copyright (c) 1997
 * Silicon Graphics Computer Systems, Inc.
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies and
 * that both that copyright notice and this permission notice appear
 * in supporting documentation.  Silicon Graphics makes no
 * representations about the suitability of this software for any
 * purpose.  It is provided "as is" without express or implied warranty.
 */
 
/*
 * Copyright notice reproduced from <boost/detail/limits.hpp>, from
 * which this code was originally taken.
 *
 * Modified by Caleb Epstein to use <endian.h> with GNU libc and to
 * defined the BOOST_ENDIAN macro.
 */
 
/*
 * Modifications for oscpp by Stefan Kersten
 *  - Change prefix from BOOST to OSCPP
 *  - Remove PDP endianness
 *  - Add OSCPP_BYTE_ORDER_* macros
 */
 
#ifndef OSCPP_ENDIAN_HPP_INCLUDED
#define OSCPP_ENDIAN_HPP_INCLUDED
 
#define OSCPP_BYTE_ORDER_BIG_ENDIAN 4321
#define OSCPP_BYTE_ORDER_LITTLE_ENDIAN 1234
 
// GNU libc offers the helpful header <endian.h> which defines
// __BYTE_ORDER
 
#if defined(__GLIBC__) || defined(__ANDROID__)
#    include <endian.h>
#    if (__BYTE_ORDER == __LITTLE_ENDIAN)
#        define OSCPP_LITTLE_ENDIAN
#    elif (__BYTE_ORDER == __BIG_ENDIAN)
#        define OSCPP_BIG_ENDIAN
#    else
#        error Unknown machine endianness detected.
#    endif
#    define OSCPP_BYTE_ORDER __BYTE_ORDER
#elif defined(_BIG_ENDIAN) && !defined(_LITTLE_ENDIAN) ||     \
    defined(__BIG_ENDIAN__) && !defined(__LITTLE_ENDIAN__) || \
    defined(_STLP_BIG_ENDIAN) && !defined(_STLP_LITTLE_ENDIAN)
#    define OSCPP_BIG_ENDIAN
#    define OSCPP_BYTE_ORDER OSCPP_BYTE_ORDER_BIG_ENDIAN
#elif defined(_LITTLE_ENDIAN) && !defined(_BIG_ENDIAN) ||     \
    defined(__LITTLE_ENDIAN__) && !defined(__BIG_ENDIAN__) || \
    defined(_STLP_LITTLE_ENDIAN) && !defined(_STLP_BIG_ENDIAN)
#    define OSCPP_LITTLE_ENDIAN
#    define OSCPP_BYTE_ORDER OSCPP_BYTE_ORDER_LITTLE_ENDIAN
#elif defined(__sparc) || defined(__sparc__) || defined(_POWER) || \
    defined(__powerpc__) || defined(__ppc__) || defined(__hpux) || \
    defined(__hppa) || defined(_MIPSEB) || defined(_POWER) ||      \
    defined(__s390__) || defined(__aarch64__) || defined(_M_ARM64)
#    define OSCPP_BIG_ENDIAN
#    define OSCPP_BYTE_ORDER OSCPP_BYTE_ORDER_BIG_ENDIAN
#elif defined(__i386__) || defined(__alpha__) || defined(__ia64) ||  \
    defined(__ia64__) || defined(_M_IX86) || defined(_M_IA64) ||     \
    defined(_M_ALPHA) || defined(__amd64) || defined(__amd64__) ||   \
    defined(_M_AMD64) || defined(__x86_64) || defined(__x86_64__) || \
    defined(_M_X64) || defined(__bfin__)
 
#    define OSCPP_LITTLE_ENDIAN
#    define OSCPP_BYTE_ORDER OSCPP_BYTE_ORDER_LITTLE_ENDIAN
#else
#    error The file oscpp/endian.hpp needs to be set up for your CPU type.
#endif
 
#endif // OSCPP_ENDIAN_HPP_INCLUDED

after that compile with source code.