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Contents

• Prerequisites
• Jetson Orin Nano
  • Docker
  • VSCode
  • ROS2
  • Run the setup script

Prerequisites

You need an onboard computer.

Jetson Orin Nano

First, follow NVIDIA's Jetson Setup Guide.

This involves downloading the Jetpack Image to flash a MicroSD card (they recommend >=64GB; we currently use 128GB), then following the instructions on the screen to set up the OS.

This may involve first downloading an old Jetpack image to update the firmware, which we had to do with our Orin Nanos. Just follow NVIDIA's guide and you should be fine.

Run the setup script

You should clone the GitHub repository on the Jetson. Then,

sudo ./setup.sh

This installs Docker Engine, VSCode, ROS2 Humble, Isaac ROS, and Chromium. It also sets up udev rules for CAN and enables GUI applications to function properly within Docker containers. It is quite a heavy lifter and it keeps growing, but it's not reliable. It also does not offer an easy automatic way to keep machines updated. It would therefore be recommended to look into creating an Ansible playbook, for example, in place of this script.