install ROS -> https://github.com/jetsonhacks/installROSTX2/blob/master/installROS.sh
you need tf, and angle packages http://answers.ros.org/question/191730/how-can-i-get-both-tf-and-tf2-working-in-ros/
sudo apt-get intsall ros-kinetic-tf*
sudo apt-get install ros-kinectic-angles
At some point, you'll get this error
[ 1%] Linking CXX shared library /home/nvidia/projects/mavscout_ws/devel/lib/libcv_utils.so
[ 2%] Built target math_utils
[ 2%] Building CXX object pyimg/CMakeFiles/pyimg.dir/src/module.cpp.o
[ 2%] Built target cyimg
/usr/bin/ld: cannot find -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
cv_utils/CMakeFiles/cv_utils_bgr8_to_fc1.dir/build.make:139: recipe for target '/home/nvidia/projects/mavscout_ws/devel/lib/cv_utils/cv_utils_bgr8_to_fc1' failed
make[2]: *** [/home/nvidia/projects/mavscout_ws/devel/lib/cv_utils/cv_utils_bgr8_to_fc1] Error 1
CMakeFiles/Makefile2:857: recipe for target 'cv_utils/CMakeFiles/cv_utils_bgr8_to_fc1.dir/all' failed
make[1]: *** [cv_utils/CMakeFiles/cv_utils_bgr8_to_fc1.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 3%] Built target math_utils_scratch
/usr/bin/ld: cannot find -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
cv_utils/CMakeFiles/cv_utils.dir/build.make:185: recipe for target '/home/nvidia/projects/mavscout_ws/devel/lib/libcv_utils.so' failed
make[2]: *** [/home/nvidia/projects/mavscout_ws/devel/lib/libcv_utils.so] Error 1
CMakeFiles/Makefile2:894: recipe for target 'cv_utils/CMakeFiles/cv_utils.dir/all' failed
make[1]: *** [cv_utils/CMakeFiles/cv_utils.dir/all] Error 2
[ 51%] Built target numpy_eigen_test
[ 98%] Built target numpy_eigen
Use this opencv/opencv#6542 (comment)
In the cmake of the package cv_utils, add set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
add std_msgs as a dependency in CMakeLists and package.xml
Also set(CUDA_USE_STATIC_CUDA_RUNTIME OFF) in CMakeLists