Jetson TX2 で ROS のインストールに失敗したので，解決策をまとめる．
環境
Jetson TX2 / JetPack 3.3.1 / Ubuntu 16.04
問題
Jetson で ROS の 公式 wiki に従ってインストールした時に詰まった.
sudo apt-get install ros-kinetic-desktop-full
とした時のエラーメッセージが下記
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
ros-kinetic-desktop-full : Depends: ros-kinetic-desktop but it is not going to be installed
Depends: ros-kinetic-perception but it is not going to be installed
Depends: ros-kinetic-simulators but it is not going to be installed
Depends: ros-kinetic-urdf-tutorial but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
試したこと
sudo apt update
sudo apt upgrade
sudo apt dist-upgrade
これでも結果は変わらず...
やること（解決索）
パッケージの追加
sudo apt-add-repository universe
sudo apt-add-repository multiverse
sudo apt-add-repository restricted
sudo apt update
Ubuntu のパッケージは main の他に今回追加した universe,multiverse, restrictedなどがあるらしい．
こちらで詳しく解説されている．
ROS のインストール
sudo apt-get install ros-kinetic-desktop-full --fix-missing
--fix-missing のオプションを付けないと，インストールが最後まで完了しなかった．