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NVIDIA Jetson TX2 Setup
First time setup of NVIDIA Jetson TX2.
If git is installed on the system run the following commands to configure your git account.
git config --global user.name "John Doe"
git config --global user.email johndoe@example.com
ssh-keygen Press enter till the ssh-key is generated.
cat /home/$USERNAME/.ssh/id_rsa.pub copy the output.
In your gitlab.lrz account > Preferences > SSH Keys > Paste > Add key
JetsonHacks provides scripts to install desired ros version for arm architectures.
Jetpack 4.6 comes with ubuntu 18.04 LTS thus supporting ros-melodic.
git clone https://github.com/jetsonhacks/installROS.git
cd installROS/
./installROS.sh -p ros-melodic-desktop-full
source /opt/ros/kinetic/setup.bash
sudo apt-get install python3-catkin-tools
mkdir -p catkin_ws/src/
cd catkin_ws/
catkin init
cd src/
catkin_create_pkg test_pkg std_msgs rospy roscpp
cd ..
catkin build
JetsonHacks provides scripts to install the official realsense-viewer SDK.
Visit the website to build the SDK from source and for more details.
git clone https://github.com/JetsonHacksNano/installLibrealsense
cd installLibrealsense
./installLibrealsense.sh
Start the application:
realsense-viewer
Connect the camera and turn on the required streaming methods.
#############################################################
Installation jetson devices link
git clone https://github.com/IntelRealSense/librealsense.git
./libuvc_installation.sh -DBUILD_WITH_CUDA=true
https://github.com/IntelRealSense/realsense-ros#installation-instructions
sudo apt-get install ros-melodic-realsense2-camera
sudo apt-get install ros-melodic-rgbd-launch
cd ~/catkin_ws/src/
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
Launch the camera node:
roslaunch realsense2_camera rs_camera.launch
https://forums.developer.nvidia.com/t/docker-isnt-working-after-apt-upgrade/195213/7
https://github.com/dusty-nv/jetson-containers
check python version of ros:
apt list --installed | grep rospkg
Change the settings of the UART GPIO to communicate with the flight controller via MAVLink
Click to expand the system information
Building python from source on Ubuntu 20.04 LTS Focal Fossa tutorial link
Get the essential packages:
sudo apt-get update
sudo apt-get install -y build-essential checkinstall
sudo apt-get install libreadline-gplv2-dev libncursesw5-dev libssl-dev libsqlite3-dev tk-dev libgdbm-dev libc6-dev libbz2-dev
Get the Python source code:
cd /usr/src
sudo wget https://www.python.org/ftp/python/3.6.9/Python-3.6.9.tgz
sudo tar xzf Python-3.6.9.tgz
Installation:
cd Python-3.6.9
sudo ./configure --enable-optimizations
sudo make altinstall
Verify installation:
python3.6 --version
Get the location of Python 3.6 binaries:
which python3.6
/usr/local/bin/python3.6
Add Python 3.6.9 alongside Python 3.8.10:
sudo update-alternatives --install /usr/bin/python3 python3 /usr/local/bin/python3.6 1
List the possible python3 versions:
sudo update-alternatives --list python3
Configure the python3 version:
sudo update-alternatives --config python3
Verify Replacement:
python3
Python 3.6.9 (default, Mar 14 2022, 09:15:30)
[GCC 8.4.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
Install pip3:
cd ~/
wget https://bootstrap.pypa.io/pip/3.6/get-pip.py
sudo python3.6 get-pip.py
pip 21.3.1 from /usr/local/lib/python3.6/site-packages/pip (python 3.6)
c++: internal compiler error: Segmentation fault (program cc1plus)
Increase the limits from 1024 to 10240:
sudo nano /etc/security/limits.conf
nvidia hard stack 10240
nvidia soft stack 10240
ubuntu hard stack 10240
ubuntu soft stack 10240
root hard stack 10240
root soft stack 10240
Add the limits for every session:
sudo nano /etc/pam.d/common-session
Add session required pam_limits.so
Sign out and sign back in
Build the workspace using the following command:
catkin b -j 4 -DCMAKE_CXX_FLAGS="--param ggc-min-expand=20"