I have been bringing up a jetson tk1 to run a few ROS nodes.
For these notes, I used a mac vmware ubuntu 14.04 box to upgrade the machine. But I have since moved to developing directly with Ubuntu as a dual boot on my mac. It's just faster and easier.
The first challenge is to get the tk1 environment upgraded. Mine shipped with v19 and that needed some work. After you upgrade, you're on the road to building kernel modules. Of course, after you build their source (from documentation notes), you shouldn't have any issues with dependency tags.
The next hurdle that will be encountered is getting opencv to play well with the gpu. After that, ROS will have it's own set of constraints... because it used opencv, and not opencv4tegra... have fun.
Feel free to use the documented tk1 setup... but note these instructions are tied to an nvidia release. See the nvidia documentation in each release for a more concise guide on building your own setup env.
