Jetson Setup

Download Image

Jetson Nano - Ubuntu 20.04 image with OpenCV, TensorFlow and Pytorch

https://github.com/Qengineering/Jetson-Nano-Ubuntu-20-image#installation

Headless Setup (Optional)

Jetson nano headless setup [2nd link: https://hackmd.io/@scifair2021/BkoxkcfCO]

For headless setup install Putty and then connect it to USB to your computer while jetson is already powered up using barrel jack. (Make sure jumper at J48 is connected otherwise jetson may not turn on)

Then use the com port and port : 22 then connect. After connection is established use username and password both as jetson

Main purpose of connecting through usb is to setup wifi to connect wirelessly later.

Wifi setup

Insert wifi dongle in to usb port

• Setup WiFi: steps
• Check dongle with nmcli d
• Turn on the wifi nmcli r wifi on
• List out wifi nmcli d wifi list
• Enter ssid and password: sudo nmcli d wifi connect <ssid> password <password>
• Check ip with ifconfig wlan0

Now plug out the usb. You can now access jetson wirelessly from terminal

ssh jetson@<ip_address>

Use password: jetson while connecting

We now have to extend our storage

Option 1: Using GParted (Graphical Method)

1. Install GParted:
   • Open a terminal on your Jetson Nano.
   • Install GParted by running sudo apt-get install gparted.
2. Run GParted:
   • Launch GParted either from the terminal by typing sudo gparted or through the UI by searching for GParted.
3. Resize the Partition:
   • In GParted, select your SD card from the drop-down menu at the top right.
   • Right-click on the main partition (usually /dev/mmcblk0p1 or similar) and choose "Resize/Move".
   • In the Resize window, drag the slider or enter the new size to utilize the full SD card space.
   • Click "Resize/Move" and then click the "Apply" button to apply the changes.
4. Reboot:
   • After the process is complete, reboot your Jetson Nano to ensure the changes are recognized.

Option 2: Using Command Line (Headless Method)

1. Check Current Partition:

   • In a terminal, type df -h to see the current partition sizes.

2. Use fdisk to Resize:

   • Run sudo fdisk /dev/mmcblk0 (replace /dev/mmcblk0 with your SD card device, if different).
   • Delete the existing main partition (usually partition 1) and create a new one using the same start sector as before but with an extended size to occupy the entire SD card.
     • p > d > 1 > n > 1 >enter > enter > no > w
   • Be careful with this step as it can lead to data loss if done incorrectly.

3. Resize Filesystem:

   • After modifying the partition, use sudo resize2fs /dev/mmcblk0p1 (replace with your partition, if different) to resize the filesystem.

4. Reboot:

   • Reboot the Jetson Nano.

   Intsall no machine

   https://kb.nomachine.com/AR02R01074

ZED SDK installation

References:
https://www.stereolabs.com/docs/installation/linux
https://www.stereolabs.com/docs/get-started-with-zed

1. Download the SDK file

   wget https://github.com/olaghattas/jetson-zed-ros2-docker/blob/master/ZED_SDK_Tegra_L4T32.7_v4.0.8.zstd.run
   

2. Provide execution permission

   sudo chmod +x ZED_SDK_Tegra_L4T32.7_v4.0.8.zstd.run
   

3. Install zstd. It will be needed for the installer to run

   sudo apt install zstd
   

4. Run the ZED SDK installer

   ./ZED_SDK_Tegra_L4T32.7_v4.0.8.zstd.run
   

5. After installation check it by runnung

   /usr/local/zed/tools/ZED_Explorer
   

Docker Instruction

Installing Docker

e.g. By default docker should be installed. Use sudo docker --version command to check if docker is installed. If not follow these steps to instal docker.

1. Uninstall old version first.

   for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done
   

   sudo apt-get purge docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin docker-ce-rootless-extras
   

   • Images, containers, volumes, or custom configuration files on your host aren't automatically removed. To delete all images, containers, and volumes:

     sudo rm -rf /var/lib/docker
     sudo rm -rf /var/lib/containerd
     

2. Install using the apt repository:

   • Set up Docker's apt repository

     For Ubuntu

     # Add Docker's official GPG key:
     sudo apt-get update
     sudo apt-get install ca-certificates curl gnupg
     sudo install -m 0755 -d /etc/apt/keyrings
     curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
     sudo chmod a+r /etc/apt/keyrings/docker.gpg
     
     # Add the repository to Apt sources:
     echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -sc) stable" | \
     sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
     sudo apt-get update
     

   • Install the Docker packages.

     sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
     

3. Verify the Installation:

   • Verify that the Docker Engine installation is successful by running the hello-world image.

     sudo docker run hello-world
     

Install docker-compose

e.g. Good to know that, currently there two versions of docker compose. docker-compose is the V1 and docker compose is V2. We need to install the V1.

1. Download and Install docker-compose

   sudo curl -L "https://github.com/docker/compose/releases/download/v2.1.1/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
   

2. Provide execution permission

   sudo chmod +x /usr/local/bin/docker-compose
   

3. Verify the Installation:

   sudo docker-compose version
   

Add docker to user group

1. Create the docker group

   sudo groupadd docker
   

2. Add user to the docker group

   sudo usermod -aG docker $USER
   

3. Activate the changes to the group:

   newgrp docker
   

Building Docker Image and Run Container

Download and navigate to this repository follow these steps to build image and run the container.

1. Download the repository and provide all permision to the folder

   sudo mkdir /etc/docker/compose/
   cd /etc/docker/compose/
   sudo git clone https://github.com/olaghattas/jetson-zed-ros2-docker.git
   sudo chmod -R 777 jetson-zed-ros2-docker
   cd jetson-zed-ros2-docker
   

2. Change camera location in docker-compose.yaml file by sudo nano docker-compose.yaml. Then under environment look for cam_loc field to change the camera name.

3. Build and run the docker image

   sudo xhost +
   cd /etc/docker/compose/jetson-zed-ros2-docker
   sudo docker-compose up
   

4. with container running, attach it from another terminal and check ros2 topics by ros2 topic list whether zed is publishing

   docker-compose exec -it <container-name> bash
   

Good to know: if you cant pull an image from dockerhub if you have another image with the same name so make sure you delete it firs. If you want to make changes to the docker while running in execution mode before closing the docker you need to run docker commit docker commit <container-id> <new-image-name> use this command, the name of the new image can be the same as as your old imgae if you are planning on overwritting it. This however only saves it on your machine you will need to push to docker with docker push inorder for everyone to use it.

Zed has a unique serial numbre that is fetched from internet everytime if there is not serial number found on the container. If a new zed camera is used serial number will not match. Therefore its best to commit serial number to the local image so that we don't need internet while running a new camera. To do so, with docker container running, run the following command in anothe terminal:

docker commit jetson-zed-ros2-docker-zed-ros2-1 olagh/zed_docker:env_var

Launch docker on boot as a service

• Create file /etc/systemd/system/[email protected] with the following content. SystemD calling binaries using an absolute path. In my case is prefixed by /usr/local/bin, you should use paths specific for your environment

[Unit]
Description=%i service with docker compose 
PartOf=docker.service
After=docker.service
After=gdm.service 
Requires=containerd.service 
After=containerd.service
PartOf=graphical-session.target 


[Service] 
Type=simple
User=jetson
Restart=on-failure 
Environment=DISPLAY=:0 
WorkingDirectory=/etc/docker/compose/%i 
#ExecStart=/usr/local/bin/docker-compose up 
ExecStart=/bin/bash -c "xhost + && /usr/local/bin/docker-compose up" 
ExecStop=/usr/local/bin/docker-compose down 

RestartSec=10 

[Install] 
WantedBy=multi-user.target 
WantedBy=graphical-session.target 

Make sure you have docker-compose.yaml in /etc/docker/compose/jetson-zed-ros2-docker and call

sudo systemctl enable docker-compose@jetson-zed-ros2-docker
sudo systemctl start docker-compose@jetson-zed-ros2-docker

(Optional)Docker cleanup timer with system

Create /etc/systemd/system/docker-cleanup.timer with this content:

[Unit]
Description=Docker cleanup timer

[Timer]
OnUnitInactiveSec=12h

[Install]
WantedBy=timers.target

And service file /etc/systemd/system/docker-cleanup.service:

[Unit]
Description=Docker cleanup
Requires=docker.service
After=docker.service

[Service]
Type=oneshot
WorkingDirectory=/tmp
User=root
Group=root
ExecStart=/usr/local/bin/docker system prune -af

[Install]
WantedBy=multi-user.target

run systemctl enable docker-cleanup.timer for enabling the timer

Troubleshooting

• Ensure Docker is running before attempting to build images or run containers.
• Check Docker and Docker Compose versions with docker --version and docker-compose --version.
• If you get an error that GPU deploy is not supported this is due to the ode version of docker-compose it should be greater than 1.29 to work.
• For specific errors, refer to the official Docker documentation or Docker community forums.