October 22, 2016

Installation

The first step to install NVIDIA Jetson TK1 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 JetsonTK1 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 guide for 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 “dude” you must change the hostname information in the Jetson TK1 board.

On the same bash type to modify the first file:

sudo gedit /etc/hostname

and replace”tegra-ubuntu” to “dude“, same action for the hosts file.

sudo gedit /etc/hosts

When complete run sudo service hostname restart or restart the Jetson TK1 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@rnext.it

Drivers

When you have complete to install and configured ubuntu, you can start to install the drivers to control the serial port.

USB

USB 3.0

If required by default USB3.0 port is not enabled and it is detected as a “simple” USB2.0 port. (The xTion does not work with USB 3.0 port)

sudo sed -i 's/usb_port_owner_info=0/usb_port_owner_info=2/' /boot/extlinux/extlinux.conf

Disable autosuspend

Following jetsonhack guide

$ sudo sed -i ‘$s/$/ usbcore.autosuspend=-1/’ /boot/extlinux/extlinux.conf

After reboot the board

FTDI Driver Module

Download from github the Jetsonhack’s repository to install the FTDI driver

git clone https://github.com/jetsonhacks/buildJetsonFTDIModule.git

End finally launch the script
./prepareModule.sh
and after
./removeSources.sh

ROS Jade

Following the installation guide for ARMHF distribution on ROS wiki.

Standard node

  • ros-jade-ros
  • ros-jade-navigation

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

Install and follow the installation guide:

  • ros_orbus_interface – Follow the WIKI
  • ros_robot_wandering_demo
  • ros_dude

After run:

rosdep install -y --from-paths src --ignore-src --rosdistro jade

Setup hostname ROS

Add hostname robot definition

echo “export ROS_MASTER_URI=http://dude.local:11311” >> ~/.bashrc
echo “export ROS_HOSTNAME=dude.local” >> ~/.bashrc

source ~/.bashrc

 

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