以下方法实测有效
1. 修改 source.list
换源需要换 ARM 的源，不要换成了 PC 平台的软件源，Xavier 的系统是18.04(bionic)
sudo vim /etc/apt/sources.list
Xavier清华的:
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
修改完成后sudo apt update更新即可
2.部署ROS
Nvidia Jetson Xavier部署ROS跟Ubuntu下稍微有些不同，可以通过ROSXavier脚本安装：
https://github.com/jetsonhacks/installROSXavier。
$ git clone https://github.com/jetsonhacks/installROSXavier.git
$ cd installROSXavier
$ ./installROSXavier
环境参数添加
vim ~/.bashrc
在.bashrc文件后边加入如下两项
export LD_LIBRARY_PATH=/opt/ros/melodic/lib
export LC_ALL="C"
添加完成后，reboot重启jetson xavier即可完成ROS安装
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