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Post-flashing Dos

(TX2 Platform for ROS-Robotics)

Check L4T and Jetpack version#

-cat /etc/nv_tegra_release, e.g. R32.3.2 is the L4T Version

Install Absolute Dependencies#

  1. sudo apt update to the latest
  2. Install CUDA and cuDNN etc. from Nvidia SDK Manager, over the USB Cable (check install by nvcc --version and ~/.bashrc export 2 lines are there)
  3. Install ROS, and apt install python-catkin-tools python-rosdep; do sudo rosdep init
  4. Setup SD Card /etc/fstab
  5. Add user nvidia to dialout group, to access tty serial port normally
  6. Install pytorch and torchvision
  7. Install ZED SDK
  8. sudo apt install ros-melodic-mavlink

Downgrade OpenCV#

  1. For new Jetpack, the OpenCV version is 4.1+. Whereas ROS 1 needs Version 3.x to function. Hence, downgrade by using Nvidia's SDK Manager's .deb file , e.g.
    • libopencv_3.3.1-2-g31ccdfe11_arm64.deb
    • libopencv-dev_3.3.1-2-g31ccdfe11_arm64.deb
    • libopencv-python_3.3.1-2-g31ccdfe11_arm64.deb
    • libopencv-samples_3.3.1-2-g31ccdfe11_arm64.deb

Install Optional Dependencies#

  1. For Pangolin OpenGL Display
    • sudo apt install libgl1-mesa-dev libglew-dev
    • sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
    • sudo python -mpip install numpy pyopengl Pillow pybind11
  2. librealsense for Jetson from official

Python Dependencies#

  • pip install --upgrade pip, same to pip3
  • pip install and pip3 install the following
    • cpython (may try pip install --upgrade)
    • numpy
    • scipy (need gfortran compiler)

Convenience#

  1. Add right-click to create new file: touch ~/Templates/Empty\ Document
  2. Add system monitor applet at status bar (gnome extension)
  3. Setting of power button to shutdown without prompt of 60 seconds
  4. Do not blank screen display

Tools#

  1. Install VS Code
  2. Install Samba
  3. Install git, and configure timeout for asking password git config --global credential.helper 'cache --timeout=300'
  4. catkin build, make it default Release mode catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

Hardware / Kernel#

  1. Increase USBFS buffer size (uboot at /boot/extlinux/extlinux.conf)

Web Applications#

  1. Nodejs and yarn
  2. Nginx sudo apt install nginx

OpenCV 4 from Source#

  1. It is required, if contrib features of OpenCV is to be used. Does not come with shipped .deb
  2. build it from source, using a external ext4 disk drive, as large space is needed
  3. for TX2, the CUDA_ARCH_BIN version is 6.2
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