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Abhay Deshpande edited this page Apr 20, 2024 · 8 revisions

Jetson Orin NX Configuration

Required Hardware

  • NVIDIA Jetson Orin NX
  • reComputer J401 Carrier Board
  • Heat sink/fan
  • External Monitor
  • Mouse+Keyboard
  • HDMI Cable
  • 9-19V DC 5A (Barrel Jack 5.5/2.5mm) Power Supply

Hardware Setup

  1. Attach the heat sink to the Jetson chip. Make sure you have the back bracket in place, and plug the fan in.
  2. Attach the chip to the carrier board
    • Insert at a ~45 degree angle until it snaps into place
    • Angle down until it is flush with the board
    • Put in retaining screws

1. Flashing

  • Follow these instructions: Getting Started with reComputer J40/J30 Series (J401 carrier board)
    • Use Jetpack version 5.1.1
      • This may not matter, but that's the version the current Jetson is on
    • For step 3, run sudo tools/l4t_create_default_user.sh -u husky -p {ask lead} -a -n jetson-1 --accept-license
  • There is a 2-pin jumper in the small brown cardboard box in the bag with the Jetson
  • NOTE: There’s some weird issues with the fan. This is how the first successful flash was performed:
    • Start with the fan completely removed from the Jetson
    • Run the flashing script
    • Wait for Jetson to get past the Waiting for target to boot-up... stage
    • Place the fan on top of the chip and plug it in
    • After a successful flash, you can fully attach the fan without issue
  • If you did everything correctly, the Jetson should boot into Ubuntu 20.04 with the correct username, password, and hostname without any other setup needed

2. SSH Key Setup

Also, enable SSH:

sudo apt update
sudo apt install openssh-client
sudo apt install openssh-server
sudo systemctl enable sshd
sudo systemctl start sshd

3. Setting up Repositories

  • All of the following should be cloned into the home directory
  • Clone via SSH, not HTTPS
    • Make sure step 2 has been completed to make this possible
  • Clone Resurgence 
git clone [email protected]:huskyroboticsteam/Resurgence.git

Follow rover config info in /rover-config, set up, compile, and build code

git clone [email protected]:huskyroboticsteam/ardupilot-driver.git

Follow setup instructions in the README

git clone [email protected]:huskyroboticsteam/science-cli.git

Follow setup instructions in the README

git clone [email protected]:huskyroboticsteam/scripts.git

Follow the "Rover Setup" section of the README

Jetson TX2 Configuration

Required Hardware

  • NVIDIA Jetson TX2 (and included cables/power brick)
  • USB Hub
  • External Monitor
  • Mouse+Keyboard
  • HDMI Cable

Hardware Connection

  1. Connect mouse + keyboard to usb hub and connect usb hub to Jetson usb port
  2. Connect HDMI cable from external monitor to HDMI port on Jetson
    • USB and HDMI ports are next to each other
  3. Power on Jetson using red power button (read board to find)

Software

  1. Ubuntu 18.04 should boot
    • When setting up Ubuntu
      • Your name: husky
      • Computer name: jetson-1
      • Username: husky
      • Password: Ask lead
      • Wifi: Use HuskyRobotics and ask lead for password
  2. Ensure current version of Ubuntu is 18.04 by using:
lsb_release -a # Should see 18.04
  1. Update to Ubuntu 20.04 (either a window popup will appear or can be done through Software Updater)
  2. Once 20.04 is installed and configuration complete confirm version again
lsb_release -a # Should see 20.04
  1. Clone Resurgence repository
git clone https://github.com/huskyroboticsteam/Resurgence
  1. Follow rover-config instructions here
  2. Follow project setup instructions here

Configure UART

  1. Add the user to the dialout group:
sudo usermod -aG dialout husky
  1. Disable nvgetty service
systemctl stop nvgetty
systemctl disable nvgetty
udevadm trigger
  1. Ensure you reboot before trying to use UART

Troubleshooting

  1. Ubuntu 18.04 will prompt you to update to 20.04, it will then install all it needs and reboot. This then seems like the end of the setup but it usually does not update 20.04 and stays on 18.04. Run the updater to 20.04 again and after it installs more and reboots again, it should be on 20.04.
  2. Update to 20.04 can sometimes fail in slight ways. A common situation is that in the process of updating the Jetson will reboot and leave you on a blank screen with a blinking cursor in the top left, if this happens:
    1. Switch to a shell using CTL + ALT + F3
    2. Reconfigure dpkg sudo dpkg-reconfigure gdm3
    3. Restart gdm3 sudo service gdm3 restart
    4. Reinstall libappstream4 sudo apt install --reinstall libappstream4
    5. If errors persist sudo dpkg --configure -a
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