Compatibility matrix

Every version in this stack is pinned in versions.env. scripts/check_version_consistency.sh (run by make doctor and CI) proves the docs and scripts never drift from it. This page is the human-readable view of that pin set, plus the rationale for the platform choice.

  1. Live verification status
  2. Baseline
  3. Accelerator and camera
  4. Python and autonomy stack
  5. Telemetry and peripherals
  6. Why JetPack 6.2 / L4T R36.4.3, not 6.2.2 / R36.5
  7. NVIDIA CDN layout
  8. Forward path

Live verification status

Confirmed live over SSH on the running board (2026-06-10):

  • PREEMPT_RT kernel: uname -v shows SMP PREEMPT_RT; /sys/kernel/realtime reads 1.
  • Metis NPU: enumerated on PCIe at 0004:01:00.0, bound to the metis driver.
  • NVMe root: ADATA XPG GAMMIX S55 2 TB, rootfs mounted at / on /dev/nvme0n1p1.
  • Power: MAXN_SUPER mode active, CPU max ~1.98 GHz, 8 cores online.

Confirmed live in the 2026-06-11 bring-up session:

  • ZED X camera: end-to-end capture verified: pyzed opens the camera (HD1200@30), 29.5 FPS stereo sustained, CUDA depth maps. Requires the SPSC/daemon pieces from scripts/install_zedx_daemons.sh on top of the SDK installer (Drivers §1.5).
  • CUDA userspace: nvidia-jetpack 6.2.1 (CUDA 12.6, cuDNN 9.3, TensorRT 10.3, VPI 3.2), installed on-device via apt; the flashed image ships none of it (TROUBLESHOOTING P-3).
  • Voyager/Metis inference: YOLOv5s at 49.2 FPS end-to-end on 1080p video, 29.6 FPS camera-limited on the live ZED X feed (AV Stack § Voyager inference).
  • C++ samples (zedx_metis_infer / zedx_metis_fusion): live-camera detection up to 92 FPS at SVGA@120, full fusion at 46-53 FPS with --depth-every; measured tables and the reproducible harness in Benchmarks.
  • ROS 2 Humble + Isaac ROS 3.2 (apt) + Nav2 + MAVROS; mission dry-run spawns all 6 nodes.

Baseline

Component Pinned Validated platform Source
L4T (Jetson Linux) R36.4.3 Orin NX 16GB (P3767-0000) jetson-linux-r3643
JetPack 6.2 maps to L4T 36.4.3 JetPack 6.2
Kernel 5.15-tegra PREEMPT_RT applied via generic_rt_build.sh NVIDIA Kernel Customization
Toolchain Bootlin aarch64--glibc--stable-2022.08-1 (GCC 11.3.0) reference cross-compiler JetsonLinuxToolchain
CUDA 12.6 (12.6.10) ships with JetPack 6.2 JetPack 6.2 release notes
cuDNN / TensorRT 9.3 / 10.3 ships with JetPack 6.2 JetPack 6.2 release notes

Accelerator and camera

Component Pinned Notes Source
Axelera Metis M.2 PCI 1f9d:1100 (rev-02); 1f9d:11aa (rev-01) PCIe Gen3 x4, M.2 2280 M-key. Verified: enumerates at 0004:01:00.0, bound to the metis driver. upstream pci.ids
Voyager SDK 1.6 pip wheels, numpy<2.0.0; out-of-tree driver promoted in-tree here software.axelera.ai Artifactory
ZED X 2x 1920x1200 global shutter @ 60 fps AR0234 sensors, GMSL2 over coax Stereolabs ZED X datasheet
ZED Link Mono MAX9296A deserializer single-link GMSL2 to MIPI CSI-2 (Duo uses MAX96712) Stereolabs ZED Link
ZED SDK 5.3 Covers L4T 36.4 and 36.5, CUDA 12.6. The kernel build stages the ZED X device-tree overlay; the SDK userspace is a separate on-device install. Capture is live-verified on the reference device (2026-06-11: 29.5 FPS stereo + CUDA depth, see above); the SDK alone is not enough: run scripts/install_zedx_daemons.sh (Drivers §1.5). ZED Releases

Python and autonomy stack

These rows are version pins. The /opt/av-env environment (PyTorch, Voyager SDK wheels) is provisioned by the first-boot service once the device has internet; the service re-runs each boot until provisioning completes, and make verify’s venv-import step fails until it does. On the reference device the full stack is provisioned and live-verified at these pins (2026-06-11), including CUDA userspace, Voyager inference, and the ROS 2 / Isaac ROS / Nav2 / MAVROS layer; see the verification status above.

Component Pinned Notes Source
PyTorch / torchvision 2.8.0 / 0.23.0 Jetson wheels, jp6/cu126 index pypi.jetson-ai-lab.io
NumPy < 2.0.0 wheels built against NumPy 1.x PyTorch NumPy-2 transition
ROS 2 Humble the JetPack-6 / Isaac ROS 3.x distro docs.ros.org
Isaac ROS 3.2 (Update 1) JetPack 6.2 is the validated platform (see below) Isaac ROS releases
Nav2 Humble SmacPlannerHybrid (Hybrid-A*) docs.nav2.org
MAVROS 2.x ROS 2 to Pixhawk over MAVLink, /dev/ttyTHS1 @ 921600 PX4 companion-computer docs

Telemetry and peripherals

Component Pinned Notes
Wi-Fi/BT RTL8822CE Vendor rtl8822ce driver and a NetworkManager profile are staged; the in-kernel rtw88 is blacklisted. The vendor module is deliberately not autoloaded at boot (a hung probe at sysinit blocks all logins); set WIFI_AUTOLOAD=1 at bake to opt in.
Satellite (primary modem) Iridium 9704 IMT / JSPR JSON over FTDI USB-serial
Satellite (legacy) Iridium 9602/9603 SBD AT commands over CDC-ACM @ 19200, IRIDIUM_MODEL selects

Why JetPack 6.2 / L4T R36.4.3, not 6.2.2 / R36.5

No Isaac ROS release was ever validated on JetPack 6.2.2 / L4T R36.5.

JetPack-6 Isaac ROS support tops out at L4T 36.4.x. Isaac ROS 3.2 “Update 1” (January 2025) added JetPack 6.2 on ROS 2 Humble. Isaac ROS 4.x then moved to JetPack 7 / Jazzy and dropped JetPack 6. JetPack 6.2.2 / L4T R36.5 shipped into that gap with no validated Isaac ROS release.

JetPack 6.2 maps to L4T 36.4.3 (kernel 5.15, CUDA 12.6.10) and still carries the MAXN_SUPER power profile (the uncapped super mode, above the fixed 40 W mode 4), so the 157 TOPS ceiling is unaffected by the choice. Layer 1 (Metis, NVMe) runs equally on R36.5; only Layer 2 autonomy benefits from the validated 36.4.3 pin.

To run Layer 1 on R36.5 instead, change L4T_VERSION, JETPACK_VERSION, L4T_CDN_RELEASE, and the two TARBALL_* names in versions.env, then run make doctor (the consistency linter will flag any reference you missed).

NVIDIA CDN layout

The CDN release directory is not derivable from the L4T number. Full acquisition guide with download commands: Third-party dependencies.

Asset Path
BSP / rootfs / sources r36_release_v4.3/release/ and /sources/
Bootlin toolchain r36_release_v3.0/toolchain/ (release-independent mirror; v4.3/toolchain/ 404s)
Documentation archive docs.nvidia.com/jetson/archives/r36.4.3/

All four pins live in versions.env (L4T_CDN_RELEASE, L4T_TOOLCHAIN_CDN) and are enforced by the consistency linter.

Forward path

Isaac ROS 4.x (Jazzy, JetPack 7, L4T R38) is a separate track. See the JetPack 7 roadmap.