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README_instructions.md

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Flash and set up computers for CALLM robot

Last update: july 2024

JETSON ORIN 16G, Ubuntu 22.04

1) Install sdkmanager on this computer

sudo apt install sdkmanager

https://developer.nvidia.com/sdk-manager

2) Flash the JETSON

Start sdk manager:

sdkmanager

STEP1

  • Product category: JETSON
  • System configuration: Host Machine, Target Hardware: Jetson Orin NX 16GB
  • SDK Version: Last
  • Additionnal SDK: No

STEP2

  • Target components: Jetson Linux, Jetson Runtime Components, Jetson SDK Components

STEP3

  • Select Manual set up for JETSON ORIN 16G
  • OEM configuration: Runtime
  • Storage Device: NVME (To change if not)
  • Plug a screen to the JETSON, it will allow to set it up during runtime when flashing is finished
  • Follow instructions (Recovery pin is below fan) and Flash

3) After flash, Set up Ubuntu on the JETSON using a keyboard, a mouse and the connected screen

  • name: jrluser
  • computer name: callmXv (X = callm robot number)
  • username: jrluser
  • password: jrluser
  • login automatically: yes

4) If no Internet connexion on JETSON, Set up a temporary connection !!!(Before continuing installation of SDK components via sdkmanager)!!!

  • The JETSON should have internet through the USB cable connected to your computer or WI-FI
  • If not, plug a Ethernet cable between the JETSON and your computer
  • And in the 'wired connection settings' of your computer, set the IPV4 method to: 'shared with other computer'

5) Update the packages !!!(Before continuing installation of SDK components via sdkmanager)!!!

sudo apt update && sudo apt upgrade

sudo apt reboot

6) Set up preferences

  • In power Settings, blank screen: never

7) Install SDK components via sdkmanager

  • username: jrluser
  • password: jrluser
  • IP Adress: 192.168.55.1
  • proxy: No proxy

8) If no WI-FI, download and install the drivers (This works for AX200 Wi-Fi module)

sudo add-apt-repository ppa:canonical-hwe-team/backport-iwlwifi
sudo apt-get update
sudo apt-get install backport-iwlwifi-dkms
  • Restart the computer, WI-FI should be available.
sudo reboot

For faster connection:

  • Open '/etc/NetworkManager/conf.d/default-wifi-powersave-on.conf' and set wifi.powersave = 2

NUC, Ubuntu 22.04

1) Install Ubuntu 22.04 (Via USB bootable device or any other means)

2) Set up Ubuntu

  • name: jrluser
  • computer name: callmXc (X = callm robot number)
  • username: jrluser
  • password: jrluser
  • login automatically: yes

3) Set up preferences

  • In power Settings, blank screen: never

4) Update the system

sudo apt update && sudo apt upgrade
  • Restart the computer

5) If no WI-FI, install drivers

Set up CALLM workspace (JETSON and NUC)

  • First, the JETSON, the NUC and your computer should be on the same network
  • Set up your computer with (press 'enter' for all inputs, keep default installation):
bash 1_Set_up_USER_dev_amd64.sh
  • Send necessary files to JETSON and NUC with (replace X by robot's number):
bash 2_export_set_up_files.sh X

Set up JETSON

  • connect to the JETSON with (replace X by robot's number):
ssh -X [email protected]
  • Set up with (press 'enter' for all inputs, keep default installation):
cd call_m_workspace/
bash Set_up_JETSON.sh

Change CUDA version to 12.5 (This is the one installed in Set_up_JETSON.sh)

  • For that, replace or add those line in .bashrc file:
export PATH=/usr/local/cuda-12.5/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda-12.5/lib64:$LD_LIBRARY_PATH
  • Update the computer
sudo apt update && sudo apt upgrade
  • You can use filezilla to transfer the file from your computer to the JETSON: 'filezilla' in Jetson terminal
  • Then
chmod u+x <filename>
./<filename>

(press 'enter' for all inputs, keep default installation))

  • Restart the computer

Set up NUC

  • connect to the NUC with (replace X by robot's number):
ssh -X [email protected]
  • Set up with (press 'enter' for all inputs, keep default installation):
cd call_m_workspace/
bash Set_up_NUC.sh
  • Source ROS2: add the line 'source /opt/ros/humble/setup.bash" in home/.bashrc file
  • Restart the computer

Install and run CALLM workspace

  • Restart your computer to ensure everything is correctly installed
  • In the CALLM github root repository, open /robot_ws_ros2/README.md, and follow QUICK START section.