@harry
I have no direct experience for your situation/need, but I do know about some pieces of the “puzzle” you are trying to put together:
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Jetson Nano won’t recognize your BT-410 directly, but it may recognize the BT-410 USB Dongle as a “ttyUSBx” Port. BT-410 Dongle - ROBOTIS
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Then you need to put a BT-410 Slave Module on the RC100-B. At this point your BT-410 Slave will automatically synch to the BT-410 USB Dongle on the Nano (hardware-wise only).
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Next, you’ll need to interface the ZigBee SDK to your Nano - assuming you are programming your Nano in C/C++
ZIGBEE SDk
because the RC-100 uses a particular communication packet with the following format
RC-100A/100B
I have done this part before using an LN-101 (wired connection to Jetson Nano and a CM-550), so I know that this part worked OK.