The first step to install NVIDIA Jetson TX1 is to mount
Firmware and Ubuntu
Following the Jetpack Instruction install the firmware and all libraries:
- CUDA
- CuDNN
- VisionWorks
after installation execute
sudo apt-get update
sudo apt-get upgrade
After installation all packages the JetsonTX1 require a reboot.
Add repositories and basic packages
After reboot configure your Ubuntu repositories to allow “restricted,” “universe,” and “multiverse.” You can follow the Ubuntu guidefor instructions on doing this or you can open a new bash and type:
sudo apt-add-repository universe
sudo apt-add-repository multiverse
sudo apt-get update
and install the autocompletition bash (You can find other packates in Best packages for arm distribution)
sudo apt-get install bash-completion command-not-found
I suggest to install:
- htop
- nano
Change system hostname
If you want change the default hostname from “tegra-ubuntu” to “panther” you must change the hostname information in the Jetson TX1 board.
On the same bash type to modify the first file:
sudo gedit /etc/hostname
and replace”tegra-ubuntu” to “panther“, same action for the hosts file.
sudo gedit /etc/hosts
When complete run sudo service hostname restart
or restart the Jetson TX1 board
Git
First step, install git:
sudo apt-get install git
and set global configuration:
git config --global user.name "Raffaello Bonghi"
git config --global user.mail raffaello.bonghi@officinerobotiche.it
Drivers
When you have complete to install and configured ubuntu, you can start to install the drivers to control the serial port and ZED stereolabs camera.
FTDI Driver Module
Download from github the Jetsonhack’s repository to install the FTDI driver
git clone https://github.com/jetsonhacks/TX1FTDIModule.git
End finally launch the script
./installFTDIMoule.sh
ZED camera
Going in the ZED SDK for Jetson in developer area dowload and save the last sdk. When the file is available in download folder, open the bash in the download folder:
cd Downloads
chmod +x ZED_SDK_Linux_JTX1_vX.X.X.run
./ZED_SDK_Linux_JTX1_vX.X.X.run
and follow the instruction. I suggest to install also all ZED samples in /usr/local/zed/sample to check after installation the camera.
Joystick driver (optional)
To install all Joystick driver
sudo apt-get install joystick
ROS Jade
Following the installation guide for ARMHF distribution on ROS wiki.
Standard node
- ros-jade-ros
- ros-jade-navigation
- (!!!) sudo apt-get install ros-jade-xacro
- (!!!) sudo apt-get install ros-jade-robot-state-publisher
- (!!!) sudo apt-get install ros-jade-joint-state-controller
- (!!!) sudo apt-get install ros-jade-diff-drive-controller
- sudo apt-get install ros-jade-robot-localization
- sudo apt-get install ros-jade-twist-mux
- sudo apt-get install ros-jade-interactive-marker-twist-server
Setup home catkin
$ mkdir -p ~/catkin_ws/src $ cd ~/catkin_ws/src $ catkin_init_workspace $ cd ~/catkin_ws/ $ catkin_make
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc
sudo apt-get install libncurses-dev
Install and follow the installation guide:
- ros_orbus_interface
- ros_robot_teleoperation
- ros_robot_wandering_demo
- ros_panther
Setup hostname ROS
Add hostname robot definition
echo “export ROS_MASTER_URI=http://panther.local:11311” >> ~/.bashrc
echo “export ROS_HOSTNAME=panther.local” >> ~/.bashrc
source ~/.bashrc
Installation ZED on ROS
sudo apt-get install ros-jade-cv-bridge
sudo apt-get install ros-jade-image-geometry
follow the information from http://myzharbot.robot-home.it/blog/software/ros-nvidia-jetson-tx1-jetson-tk1-opencv-ultimate-guide/
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