Jetson Nano Resources

Jetson Nano Setup

1. Flash a 64GB+ SD card (see below) with the Unofficial Ubuntu 20 JetPack Image from: https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image
   • Remove Unwanted apps to get more space
     • Ex. sudo apt purge teamviewer
   • Default Login Info:
     • User: jetson
     • Password: jetson
2. Install ROS2 (https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html)
   • You might come across an package signature issue which this might solve: https://answers.ros.org/question/379190/apt-update-signatures-were-invalid-f42ed6fbab17c654/
3. Install Realsense dependencies
   • Realsense ROS Package
   • Intel Realsense SDK + Viewer
4. Clone this repo and set it up
5. Choose a matching Domain ID to communicate between devices(export ROS_DOMAIN_ID=1)
6. (Optional) Download the arm64 debian for VSCode

Running a script on startup

Follow this: https://forums.developer.nvidia.com/t/how-to-run-a-script-on-boot/108411

Isaac ROS GEMs

• Docs
• Tutorial: https://github.com/rbonghi/isaac_ros_tutorial
• Shows how to setup up docker and run some visual odometry code for the realsense
• Example for ci/cd
• includes a nice realsense transform viewer

Make Jetson Nano Image

1. Create Image File from micro sd card: https://github.com/NVIDIA-AI-IOT/jetcard#create-sd-card-snapshot
2. Shrink Image Partitions and File Size: https://softwarebakery.com//shrinking-images-on-linux

Flashing SD Card

1. Install balena-etcher
2. Install relevant Ubuntu image from Box
3. Plug in 128GB SD card
4. Launch balena-etcher, select installed image and SD card, and flash
5. Put SD card into Jetson and power it on

6. Open "disks" application in Linux, make sure partition 1 (\dev\mmcblk0p1) is the same as size of SD card. If not, expand partition.
7. Run install scripts: \colcon_ws\src\IRIS\install_scripts\install_jetson_deps.sh