May 20, 2016

Installation

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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