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Jetson Orin Nano ROS 2 AMR

A ROS 2 robot with TensorRT vision, LiDAR and voice on a Jetson.

Full build guide

Jetson Orin Nano ROS 2 AMR
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By sourabhwarghane

View original on GitHub View original on forums.developer.nvidia.com
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Build sheet

Board
Jetson Orin Nano 8GB
Other parts
Waveshare IMX219-120, RPLIDAR C1, ESP32-C3, BTS7960 drivers, 4× 12V motors, USB mic/speaker
AI model or service
YOLOv8n-Pose TensorRT, Faster-Whisper/CTranslate2, NVIDIA NIM LLM + VLM, Piper TTS
Difficulty
Advanced

Overview

ROS 2 Humble 4WD robot on Jetson Orin Nano 8GB: YOLOv8n-Pose TensorRT (~25–30 FPS), RPLIDAR C1 obstacle avoidance, person-following, raised-hand gestures, Faster-Whisper+NIM conversational AI, Piper TTS, and ESP32-C3 motor/battery control in Docker.

How it works

YOLOv8n-Pose on TensorRT tracks and follows people, RPLIDAR C1 avoids obstacles, faster-whisper plus NIM LLM/VLM handle conversation, and an ESP32-C3 runs motors.

Hardware

  • Jetson Orin Nano 8GB
  • Waveshare IMX219-120
  • RPLIDAR C1
  • ESP32-C3
  • BTS7960 drivers
  • 4× 12V motors
  • USB mic/speaker

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