JetsonXavierのセットアップ（JetPackのインストール ~ TANGパッケージビルド） #197
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上記のリンクからsdk-managerをubuntu18.04のホストPCにダウンロード |
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http://www1.meijo-u.ac.jp/~kohara/cms/technicalreport/nvidia-agx-xavier-setup |
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最初はホストPCをノートPCでやろうとしたが、メモリ不足かなんかで警告が出たため、デスクトップPCで行った。 |
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STEP2ではとりあえず全部にチェックを入れてインストールを開始した。 |
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このとき、Jetsonは通常起動で起動していた。 |
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WiFiはドングル付けてる。 |
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WiFiの設定はこちらの通り。 |
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https://qiita.com/tom_eng_ltd/items/12e2e197c86cc30eb67a |
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#64 |
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#56 |
何をしたか？TANGパッケージのReadMeに沿ってビルドする hashimoto@xavier:~/catkin_ws/src$ catkin build参考URL エラー文hashimoto@xavier:~/catkin_ws/src$ catkin build
--------------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/hashimoto/catkin_ws
--------------------------------------------------------------
Build Space: [exists] /home/hashimoto/catkin_ws/build
Devel Space: [exists] /home/hashimoto/catkin_ws/devel
Install Space: [unused] /home/hashimoto/catkin_ws/install
Log Space: [exists] /home/hashimoto/catkin_ws/logs
Source Space: [exists] /home/hashimoto/catkin_ws/src
DESTDIR: [unused] None
--------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
--------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
--------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
--------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------
[build] Found '4' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> tang_bringup
Starting >>> tang_detection
Starting >>> tang_msgs
Starting >>> tang_teleop
_______________________________________________________________________________
Errors << tang_detection:cmake /home/hashimoto/catkin_ws/logs/tang_detection/build.cmake.000.log
CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'${{prefix}}//usr/include/opencv'. Check the issue tracker
'https://github.com/ros-perception/vision_opencv/issues' and consider
creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:10 (find_package)
cd /home/hashimoto/catkin_ws/build/tang_detection; catkin build --get-env tang_detection | catkin env -si /usr/bin/cmake /home/hashimoto/catkin_ws/src/tang/tang_detection --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hashimoto/catkin_ws/devel/.private/tang_detection -DCMAKE_INSTALL_PREFIX=/home/hashimoto/catkin_ws/install; cd -
...............................................................................
Failed << tang_detection:cmake [ Exited with code 1 ]
Failed <<< tang_detection [ 10.4 seconds ]
_______________________________________________________________________________
Warnings << tang_teleop:cmake /home/hashimoto/catkin_ws/logs/tang_teleop/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:25 (catkin_package)
cd /home/hashimoto/catkin_ws/build/tang_teleop; catkin build --get-env tang_teleop | catkin env -si /usr/bin/cmake /home/hashimoto/catkin_ws/src/tang/tang_teleop --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hashimoto/catkin_ws/devel/.private/tang_teleop -DCMAKE_INSTALL_PREFIX=/home/hashimoto/catkin_ws/install; cd -
...............................................................................
Finished <<< tang_teleop [ 12.2 seconds ]
_______________________________________________________________________________
Warnings << tang_bringup:cmake /home/hashimoto/catkin_ws/logs/tang_bringup/build.cmake.000.log
CMake Warning at /home/hashimoto/catkin_ws/build/tang_bringup/cmake/tang_bringup-genmsg.cmake:3 (message):
Invoking generate_messages() without having added any message or service
file before.
You should either add add_message_files() and/or add_service_files() calls
or remove the invocation of generate_messages().
Call Stack (most recent call first):
/opt/ros/melodic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
CMakeLists.txt:15 (generate_messages)
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:20 (catkin_package)
cd /home/hashimoto/catkin_ws/build/tang_bringup; catkin build --get-env tang_bringup | catkin env -si /usr/bin/cmake /home/hashimoto/catkin_ws/src/tang/tang_bringup --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/hashimoto/catkin_ws/devel/.private/tang_bringup -DCMAKE_INSTALL_PREFIX=/home/hashimoto/catkin_ws/install; cd -
...............................................................................
Finished <<< tang_msgs [ 17.6 seconds ]
Finished <<< tang_bringup [ 17.6 seconds ]
[build] Summary: 3 of 4 packages succeeded.
[build] Ignored: None.
[build] Warnings: 2 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 18.8 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
解決策opencvのversionをcv4と明示するとビルドが通った |
ShunjiHashimoto
changed the title
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#31 |
hashimoto@ubuntu:~$ df -h
Filesystem Size Used Avail Use% Mounted on
/dev/mmcblk0p1 28G 5.3G 21G 21% /
none 7.4G 0 7.4G 0% /dev
tmpfs 7.8G 93M 7.7G 2% /dev/shm
tmpfs 7.8G 30M 7.7G 1% /run
tmpfs 5.0M 4.0K 5.0M 1% /run/lock
tmpfs 7.8G 0 7.8G 0% /sys/fs/cgroup
tmpfs 1.6G 12K 1.6G 1% /run/user/120
tmpfs 1.6G 148K 1.6G 1% /run/user/1000 |
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scipy 1.5.4 need but cant |
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jetsonとかのarm系はexport ~をしないといけない |
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jetson nanoのbashrc #以下を追記する |
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jetson nanoの環境 hashimoto@jetson:/usr/local/lib/python3.6/dist-packages$ pip3 --version
pip 21.3.1 from /usr/local/lib/python3.6/dist-packages/pip (python 3.6)
hashimoto@jetson:/usr/local/lib/python3.6/dist-packages$ pip --version
pip 21.3.1 from /usr/local/lib/python3.6/dist-packages/pip (python 3.6)
>>> numpy.__version__
'1.16.1' |
ubuntu@ubuntu:/usr/local/lib/python3.6$ history
1 import scipy
2 python3
3 ls
4 sudo apt-get update
5 ls
6 sudo apt-get install python3-scipy
7 sudo apt-get remove python3-scipy
8 sudo apt-get install python3-scipy
9 python3
10 sudo apt-get remove python3-scipy
11 sudo apt-get upgrade
12 sudo apt-get install python3-scipy
13 python3
14 sudo apt-get remove python3-scipy
15 sudo apt autoremove
16 python3
17 sudo apt-get install python3-pip
18 sudo pytho3 -m pip install scipy
19 sudo python3 -m pip install scipy
20 python3
21 sudo python3 -m pip uninstall scipy
22 sudo apt-get install python3-pip
23 sudo apt-get remove python3-scipy
24 python -c "import scipy; print scipy.version.full_version"
25 sudo python3 -m pip install scipy
26 sudo apt-get install liblapack-dev
27 sudo python3 -m pip install scipy
28 sudo apt install -y gfortran
29 sudo python3 -m pip install scipy
30 python3
31 sudo pip3 install scipy==
32 python3
33 sudo python3 -m pip install scipy==1.5.4
34 python3 -m pip install scipy==1.5.4
35 sudo apt-get install python3-scipy
36 cd
37 sudo apt-get upgrade
38 sudo apt-get update
39 sudo apt-get upgrade
40 sudo apt-get uninstall python3-scipy
41 sudo apt-get remove python3-scipy
42 sudo apt-get install python3-scipy=1.5.4
43 sudo apt-get remove python3-scipy
44 pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
45 sudo apt-get install python3-pip
46 pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
47 pip3 install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
48 pip install 'https://github.com/jetson-nano-wheels/python3.6-scipy-1.5.4/releases/download/v0.0.1/scipy-1.5.4-cp36-cp36m-linux_aarch64.whl'
49 pip3 install 'https://github.com/jetson-nano-wheels/python3.6-scipy-1.5.4/releases/download/v0.0.1/scipy-1.5.4-cp36-cp36m-linux_aarch64.whl'
50 python3
51 python3
52 pip3 uninstall numpy
53 pip3 uninstall scipy
54 curl -kL https://bootstrap.pypa.io/get-pip.py | python
55 sudo apt-get install curl
56 curl -kL https://bootstrap.pypa.io/get-pip.py | python
57 pip
58 pip3
59 cd /home/ubuntu/.cache/pip/wheels/
60 ls
61 cd d3/
62 ls
63 cd a3/
64 ls
65 sudo /usr/sbin/nvpmodel -d cool
66 sudo pip install scipy
67 sudo apt-get install python-pip
68 pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
69 pip install 'https://github.com/jetson-nano-wheels/python3.6-scipy-1.5.4/releases/download/v0.0.1/scipy-1.5.4-cp36-cp36m-linux_aarch64.whl'
70 pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
71 sudo apt-get install python3-pip
72 pip install 'https://github.com/jetson-nano-wheels/python3.6-numpy-1.19.4/releases/download/v0.0.1/numpy-1.19.4-cp36-cp36m-linux_aarch64.whl'
73 sudo pip3 install --upgrade scipy
74 sudo apt-get install libatlas-base-dev gfortran
75 sudo pip3 install scipy
76 sudo apt-get install scipy=1.5.4
77 sudo apt-get install python-scipy=1.5.4
78 sudo apt-get install python3-scipy=1.5.4
79 sudo apt-get install python3-scipy
80 cd /usr/bin/python3
81 cd /usr/bin/
82 ls
83 ls |grep python
84 cat python3-config
85 cat python3-config |grep scipy
86 cat python3.6-config |grep scipy
87 ls
88 cat python3.6 |grep scipy
89 pip3 install -U scipy
90 pip install -U pip
91 何をしたか？
92 実行コマンド
93 $ python3 ekf.py
94 参考URL
95 エラー文
96 Traceback (most recent call last):
97 ModuleNotFoundError: No module named 'scipy'
98 解決策
99 pipを更新してからscipy
100 pip install -U pip
101 pip install scipy
102 pip3 install -U pip
103 pip3 install -U pip3
104 pip3 install scipy
105 pip3 install scipy==1.5.4
106 cd
107 python3
108 pip3 uninstall scipy==1.5.4
109 pip3 uninstall scipy
110 sudo pip3 uninstall scipy
111 pip3 uninstall scipy
112 pip3 install scipy==1.5.4
113 python3
114 pip3 install scipy==1.9.1
115 python3.6 -m pip install scipy
116 cd ./.local/lib/python3.6/
117 ls
118 cd site-packages/
119 ls
120 cd scipy
121 ls
122 export PYTHONPATH=/home/ubuntu/.local/lib/python3.6/
123 python3
124 export OPENBLAS_CORETYPE=ARMV8
125 python3
126 python3.6 -m pip install scipy
127 python3
128 pip3 install --upgrade numpy
129 pip install --upgrade numpy
130 pip3 install --upgrade numpy
131 export PYTHONPATH=/home/ubuntu/.local/lib/python3.6/site-packages/
132 python3
133 export PYTHONPATH=/home/ubuntu/.local/lib/python3.6/site-packages/*
134 python3
135 pip3 install numpy -U
136 ls
137 cd ..
138 ls
139 cd scipy-1.5.4.dist-info/
140 ls
141 python3
142 pip3 install numpy -U
143 pip3 install scipy -U
144 pip3 --version
145 pip --version
146 python3 numpy
147 python3
148 vim .bashrc
149 source ~/.bashrc
150 python3
151 python3.6 -m pip uninstall scipy
152 python3.6 -m pip uninstall numpy
153 sudo python3.6 -m pip uninstall numpy
154 python3.6 -m pip install numpy==1.16.1
155 sudo apt-get remove python3-numpy
156 python3
157 sudo apt-get remove python3-numpy
158 sudo apt-get remove python3-scipy
159 sudo apt-get remove python3-scipy
160 pip3 install numpy -U
161 sudo python3.6 -m pip uninstall numpy
162 cd /usr/local/lib/python3.6/
163 ls
164 cd dist-packages/
165 ls
166 cd ..
167 sudo apt list
168 sudo apt list |grep scipy
169 sudo dpkg -L python3-scipy
170 export OPENBLAS_CORETYPE=ARMV8
171 python3
173 pip3 install scipy==1.5.4
174 python3
175 export OPENBLAS_CORETYPE=ARMV8
176 python3
177 vim .bashrc
178 sudo apt-get remove python3-numpy
179 apt-get remove python3-numpy
180 sudo dpkg -L python3-scipy
181 history
なぜかなおった |
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これやればjetson+scipyをインストールできるのかな？確信はない。 sudo apt-get remove python3-numpy
sudo apt-get remove python3-scipy
pip3 install scipy==1.5.4
export OPENBLAS_CORETYPE=ARMV8 |
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jetson-inference ubuntu@xavier:~/jetson-inference/build$ cmake ../
Note: this project uses git submodules in the source tree.
if you haven't already, run the following command from
the project's root directory:
git submodule update --init
-- distro ID: Ubuntu
-- distro version: 18.04
-- distro codename: bionic
-- using patched FindCUDA.cmake
CUDA_TOOLKIT_ROOT_DIR not found or specified
-- Could NOT find CUDA (missing: CUDA_TOOLKIT_ROOT_DIR CUDA_NVCC_EXECUTABLE CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY)
-- CUDA version:
-- CUDA detected (aarch64), enabling SM_53 SM_62
CMake Warning at CMakeLists.txt:89 (find_package):
By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "OpenCV", but
CMake did not find one.
Could not find a package configuration file provided by "OpenCV" with any
of the following names:
OpenCVConfig.cmake
opencv-config.cmake最初にビルドしようとしたらopencvがないやら、なんやらで色々と怒られた。 |
ubuntu@xavier:~$ df -h
Filesystem Size Used Avail Use% Mounted on
/dev/mmcblk0p1 28G 17G 9.5G 64% /
none 7.4G 0 7.4G 0% /dev
tmpfs 7.8G 154M 7.6G 2% /dev/shm
tmpfs 7.8G 30M 7.7G 1% /run
tmpfs 5.0M 4.0K 5.0M 1% /run/lock
tmpfs 7.8G 0 7.8G 0% /sys/fs/cgroup
tmpfs 1.6G 12K 1.6G 1% /run/user/120
tmpfs 1.6G 108K 1.6G 1% /run/user/1000残り10GB |
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librealsense install あと ubuntu@xavier:~/librealsense/build$ df -h
Filesystem Size Used Avail Use% Mounted on
/dev/mmcblk0p1 28G 21G 5.3G 80% /
none 7.4G 0 7.4G 0% /dev
tmpfs 7.8G 224M 7.6G 3% /dev/shm
tmpfs 7.8G 55M 7.7G 1% /run
tmpfs 5.0M 4.0K 5.0M 1% /run/lock
tmpfs 7.8G 0 7.8G 0% /sys/fs/cgroup
tmpfs 1.6G 12K 1.6G 1% /run/user/120
tmpfs 1.6G 132K 1.6G 1% /run/user/1000 |
Closed
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#206 |
Closed
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gpioの設定方法はこちら |
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あとはIMUセンサの動作確認、UART表示すれば動くかな |
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一通り動作確認したらハードの設計やらros2移行などを考えたい |
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LEDディスプレイのセットアップはこちら |
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xavierでsshする方法 sudo apt-get update
sudo apt upgrade
sudo apt install avahi-daemon ↓外部PCで ssh hashimoto@xavier.local |
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USBデバイスに権限を与える |
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自動起動スクリプト |
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ipアドレスの固定 |
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Ubuntuのユーザ名を変更する |
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