ログ - masuko-shingo/jetson-nano GitHub Wiki

yolov3

参考：https://github.com/leggedrobotics/darknet_ros
再帰的ビルド

jetsonnano@jetsonnano-desktop:~/yolov3$ catkin_make -DCMAKE_BUILD_TYPE=Release
Base path: /home/jetsonnano/yolov3
Source space: /home/jetsonnano/yolov3/src
Build space: /home/jetsonnano/yolov3/build
Devel space: /home/jetsonnano/yolov3/devel
Install space: /home/jetsonnano/yolov3/install
Creating symlink "/home/jetsonnano/yolov3/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/jetsonnano/yolov3/src -DCMAKE_BUILD_TYPE=Release -DCATKIN_DEVEL_PREFIX=/home/jetsonnano/yolov3/devel -DCMAKE_INSTALL_PREFIX=/home/jetsonnano/yolov3/install -G Unix Makefiles" in "/home/jetsonnano/yolov3/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/jetsonnano/yolov3/devel
-- Using CMAKE_PREFIX_PATH: /home/jetsonnano/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/jetsonnano/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jetsonnano/yolov3/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - darknet_ros_msgs
-- ~~  - darknet_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'darknet_ros_msgs'
-- ==> add_subdirectory(darknet_ros/darknet_ros_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action darknet_ros_msgs/CheckForObjects /home/jetsonnano/yolov3/src/darknet_ros/darknet_ros_msgs/action/CheckForObjects.action
Generating for action CheckForObjects
-- darknet_ros_msgs: 10 messages, 0 services
-- +++ processing catkin package: 'darknet_ros'
-- ==> add_subdirectory(darknet_ros/darknet_ros)
-- Darknet path dir = /home/jetsonnano/yolov3/src/darknet_ros/darknet
-- Found CUDA: /usr/local/cuda (found version "10.2") 
-- CUDA Version: 
-- CUDA Libararies: /usr/local/cuda/lib64/libcudart_static.a;-lpthread;dl;/usr/lib/aarch64-linux-gnu/librt.so
-- Searching for X11...
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/aarch64-linux-gnu/libX11.so
--  X11_INCLUDE_DIR: /usr/include
--  X11_LIBRARIES: /usr/lib/aarch64-linux-gnu/libSM.so/usr/lib/aarch64-linux-gnu/libICE.so/usr/lib/aarch64-linux-gnu/libX11.so/usr/lib/aarch64-linux-gnu/libXext.so
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   chrono
--   system
--   date_time
--   atomic
-- Found OpenCV: /usr (found version "4.1.1") 
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Checking and downloading yolov2-tiny.weights if needed ...
-- ... file does not exist. Downloading now ...
-- Checking and downloading yolov3.weights if needed ...
-- ... file does not exist. Downloading now ...
-- Checking and downloading yolov2.weights if needed ...
-- ... file does not exist. Downloading now ...

-- Configuring done
-- Generating done
-- Build files have been written to: /home/jetsonnano/yolov3/build
####
#### Running command: "make -j4 -l4" in "/home/jetsonnano/yolov3/build"
####

[ 55%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/blas.c.o
[ 56%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/local_layer.c.o
/home/jetsonnano/yolov3/src/darknet_ros/darknet_ros/src/image_interface.cpp: In function ‘image** load_alphabet_with_file(char*)’:
/home/jetsonnano/yolov3/src/darknet_ros/darknet_ros/src/image_interface.cpp:20:18: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
   char* labels = "/labels/%d_%d.png";
                  ^~~~~~~~~~~~~~~~~~~
[ 57%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/box.c.o
[ 57%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/lstm_layer.c.o
[ 58%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/col2im.c.o
[ 60%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/matrix.c.o
[ 60%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/connected_layer.c.o
[ 61%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/maxpool_layer.c.o
[ 62%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/convolutional_layer.c.o
[ 62%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/network.c.o
[ 63%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/cost_layer.c.o
[ 64%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/normalization_layer.c.o
[ 64%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/crnn_layer.c.o
[ 65%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/option_list.c.o
[ 66%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/crop_layer.c.o
[ 67%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/parser.c.o
[ 67%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/cuda.c.o
[ 68%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/region_layer.c.o
[ 70%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/data.c.o
[ 70%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/reorg_layer.c.o
[ 71%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/deconvolutional_layer.c.o
[ 72%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/rnn_layer.c.o
[ 72%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/demo.c.o
[ 73%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/route_layer.c.o
[ 74%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/detection_layer.c.o
[ 74%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/shortcut_layer.c.o
[ 75%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/dropout_layer.c.o
[ 76%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/softmax_layer.c.o
[ 76%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/gemm.c.o
/home/jetsonnano/yolov3/src/darknet_ros/darknet/src/gemm.c: In function ‘time_gpu’:
/home/jetsonnano/yolov3/src/darknet_ros/darknet/src/gemm.c:232:9: warning: ‘cudaThreadSynchronize’ is deprecated [-Wdeprecated-declarations]
         cudaThreadSynchronize();
         ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/cuda/include/cuda_runtime.h:96:0,
                 from /home/jetsonnano/yolov3/src/darknet_ros/darknet/include/darknet.h:11,
                 from /home/jetsonnano/yolov3/src/darknet_ros/darknet/src/utils.h:5,
                 from /home/jetsonnano/yolov3/src/darknet_ros/darknet/src/gemm.c:2:
/usr/local/cuda/include/cuda_runtime_api.h:957:57: note: declared here
 extern __CUDA_DEPRECATED __host__ cudaError_t CUDARTAPI cudaThreadSynchronize(void);
                                                         ^~~~~~~~~~~~~~~~~~~~~
[ 77%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/tree.c.o
[ 78%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/gru_layer.c.o
[ 78%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/utils.c.o
[ 80%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/upsample_layer.c.o
[ 81%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/logistic_layer.c.o
[ 82%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/l2norm_layer.c.o
[ 82%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/yolo_layer.c.o
[ 83%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/iseg_layer.c.o
[ 84%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/image_opencv.cpp.o
[ 84%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/art.c.o
[ 85%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/lsd.c.o
[ 86%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/nightmare.c.o
[ 86%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/instance-segmenter.c.o
[ 87%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/captcha.c.o
[ 88%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/regressor.c.o
[ 88%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/cifar.c.o
[ 90%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/rnn.c.o
[ 91%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/classifier.c.o
[ 91%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/segmenter.c.o
[ 92%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/coco.c.o
/home/jetsonnano/yolov3/src/darknet_ros/darknet/src/image_opencv.cpp: In function ‘image load_image_cv(char*, int)’:
/home/jetsonnano/yolov3/src/darknet_ros/darknet/src/image_opencv.cpp:89:15: warning: ignoring return value of ‘int system(const char*)’, declared with attribute warn_unused_result [-Wunused-result]
         system(buff);
         ~~~~~~^~~~~~
[ 93%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/super.c.o
[ 94%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/darknet.c.o
[ 94%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/tag.c.o
[ 95%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/detector.c.o
[ 96%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/yolo.c.o
[ 96%] Building C object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/examples/go.c.o
[ 97%] Linking CXX shared library /home/jetsonnano/yolov3/devel/lib/libdarknet_ros_lib.so
[ 97%] Built target darknet_ros_lib
Scanning dependencies of target darknet_ros
Scanning dependencies of target darknet_ros_nodelet
[ 97%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros.dir/src/yolo_object_detector_node.cpp.o
[ 97%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_nodelet.dir/src/yolo_object_detector_nodelet.cpp.o
[ 98%] Linking CXX executable /home/jetsonnano/yolov3/devel/lib/darknet_ros/darknet_ros
[100%] Linking CXX shared library /home/jetsonnano/yolov3/devel/lib/libdarknet_ros_nodelet.so
[100%] Built target darknet_ros_nodelet
[100%] Built target darknet_ros

重みのインストール

jetsonnano@jetsonnano-desktop:~/yolov3$ cd src/darknet_ros/darknet_ros/yolo_network_config/weights
jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov2.weights
--2021-12-18 04:39:44--  http://pjreddie.com/media/files/yolov2.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov2.weights [following]
--2021-12-18 04:39:44--  https://pjreddie.com/media/files/yolov2.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.

jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov2-tiny.weights
--2021-12-18 04:39:55--  http://pjreddie.com/media/files/yolov2-tiny.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov2-tiny.weights [following]
--2021-12-18 04:39:55--  https://pjreddie.com/media/files/yolov2-tiny.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.
jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ ls
how_to_download_weights.txt  yolov2-tiny.weights  yolov2.weights  yolov3.weights

jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov2-voc.weights
--2021-12-18 04:51:39--  http://pjreddie.com/media/files/yolov2-voc.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov2-voc.weights [following]
--2021-12-18 04:51:39--  https://pjreddie.com/media/files/yolov2-voc.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.

jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov2-tiny-voc.weights
--2021-12-18 04:51:46--  http://pjreddie.com/media/files/yolov2-tiny-voc.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov2-tiny-voc.weights [following]
--2021-12-18 04:51:47--  https://pjreddie.com/media/files/yolov2-tiny-voc.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.

jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov3-tiny.weights
--2021-12-18 04:52:03--  http://pjreddie.com/media/files/yolov3-tiny.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov3-tiny.weights [following]
--2021-12-18 04:52:03--  https://pjreddie.com/media/files/yolov3-tiny.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.

jetsonnano@jetsonnano-desktop:~/yolov3/src/darknet_ros/darknet_ros/yolo_network_config/weights$ wget http://pjreddie.com/media/files/yolov3.weights
--2021-12-18 04:52:12--  http://pjreddie.com/media/files/yolov3.weights
Resolving pjreddie.com (pjreddie.com)... 128.208.4.108
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:80... connected.
HTTP request sent, awaiting response... 301 Moved Permanently
Location: https://pjreddie.com/media/files/yolov3.weights [following]
--2021-12-18 04:52:13--  https://pjreddie.com/media/files/yolov3.weights
Connecting to pjreddie.com (pjreddie.com)|128.208.4.108|:443... connected.
ERROR: cannot verify pjreddie.com's certificate, issued by ‘CN=R3,O=Let's Encrypt,C=US’:
  Issued certificate has expired.
To connect to pjreddie.com insecurely, use `--no-check-certificate'.

Use your own detection objects(独自の検出オブジェクトを使用する)という項目は、おそらく自分で新たに検出するオブジェクトを追加したりする際に
行う項目？
動かせるか試す
動作させるコマンドがreadmeに無かったので、とりあえず、https://github.com/Tossy0423/yolov4-for-darknet_ros
を参考に

$ roscore

別端末で

jetsonnano@jetsonnano-desktop:~$ rosrun uvc_camera uvc_camera_node 
[ INFO] [1631020954.668427130]: using default calibration URL
[ INFO] [1631020954.672163942]: camera calibration URL: file:///home/jetsonnano/.ros/camera_info/camera.yaml
[ INFO] [1631020954.672349155]: Unable to open camera calibration file [/home/jetsonnano/.ros/camera_info/camera.yaml]
[ WARN] [1631020954.672414209]: Camera calibration file /home/jetsonnano/.ros/camera_info/camera.yaml not found.
opening /dev/video0
pixfmt 0 = 'YUYV' desc = 'YUYV 4:2:2'
  discrete: 640x480:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 160x120:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 176x144:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 320x176:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 320x240:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 352x288:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 432x240:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 544x288:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 640x360:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 752x416:   1/25 1/20 1/15 1/10 1/5 
  discrete: 800x448:   1/20 1/15 1/10 1/5 
  discrete: 800x600:   1/20 1/15 1/10 1/5 
  discrete: 864x480:   1/20 1/15 1/10 1/5 
  discrete: 960x544:   1/15 1/10 1/5 
  discrete: 960x720:   1/10 1/5 
  discrete: 1024x576:   1/10 1/5 
  discrete: 1184x656:   1/10 1/5 
  discrete: 1280x720:   2/15 1/5 
  discrete: 1280x960:   2/15 1/5 
pixfmt 1 = 'MJPG' desc = 'Motion-JPEG'
  discrete: 640x480:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 160x120:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 176x144:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 320x176:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 320x240:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 352x288:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 432x240:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 544x288:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 640x360:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 752x416:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 800x448:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 800x600:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 864x480:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 960x544:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 960x720:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 1024x576:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 1184x656:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 1280x720:   1/30 1/25 1/20 1/15 1/10 1/5 
  discrete: 1280x960:   1/30 1/25 1/20 1/15 1/10 1/5 
  int (Brightness, 0, id = 980900): 0 to 255 (1)
  int (Contrast, 0, id = 980901): 0 to 255 (1)
  int (Saturation, 0, id = 980902): 0 to 255 (1)
  bool (White Balance Temperature, Auto, 0, id = 98090c): 0 to 1 (1)
  int (Gain, 0, id = 980913): 0 to 255 (1)
  menu (Power Line Frequency, 0, id = 980918): 0 to 2 (1)
    0: Disabled
    1: 50 Hz
    2: 60 Hz
  int (White Balance Temperature, 16, id = 98091a): 0 to 10000 (10)
  int (Sharpness, 0, id = 98091b): 0 to 255 (1)
  int (Backlight Compensation, 0, id = 98091c): 0 to 1 (1)
  menu (Exposure, Auto, 0, id = 9a0901): 0 to 3 (1)
  int (Exposure (Absolute), 16, id = 9a0902): 1 to 10000 (1)
  bool (Exposure, Auto Priority, 0, id = 9a0903): 0 to 1 (1)
select timeout in grab
select timeout in grab

別端末で

jetsonnano@jetsonnano-desktop:~/yolov3/src$ roslaunch darknet_ros/darknet_ros/launch/yolo_v3.launch 
... logging to /home/jetsonnano/.ros/log/a446b074-0fde-11ec-abae-7cc2c616b697/roslaunch-jetsonnano-desktop-9465.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Resource not found: The following package was not found in <arg default="$(find darknet_ros)/config/yolov3.yaml" name="network_param_file"/>: darknet_ros
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/jetsonnano/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
The traceback for the exception was written to the log file

パッケージが見つからない

ROBOTIS　e-manual

OpenCRセットアップ https://emanual.robotis.com/docs/en/platform/turtlebot3/opencr_setup/#opencr-setup $sudo apt update

Get:1 file:/var/cuda-repo-10-2-local-10.2.89 InRelease Ign:1 file:/var/cuda-repo-10-2-local-10.2.89 InRelease Get:2 file:/var/visionworks-repo InRelease Ign:2 file:/var/visionworks-repo InRelease Get:3 file:/var/visionworks-sfm-repo InRelease Ign:3 file:/var/visionworks-sfm-repo InRelease Get:4 file:/var/visionworks-tracking-repo InRelease Ign:4 file:/var/visionworks-tracking-repo InRelease Get:5 file:/var/cuda-repo-10-2-local-10.2.89 Release [574 B] Get:6 file:/var/visionworks-repo Release [2,001 B] Get:7 file:/var/visionworks-sfm-repo Release [2,005 B]
Get:8 file:/var/visionworks-tracking-repo Release [2,010 B]
Get:5 file:/var/cuda-repo-10-2-local-10.2.89 Release [574 B]
Get:6 file:/var/visionworks-repo Release [2,001 B]
Get:7 file:/var/visionworks-sfm-repo Release [2,005 B]
Get:8 file:/var/visionworks-tracking-repo Release [2,010 B]
Hit:10 http://ports.ubuntu.com/ubuntu-ports bionic InRelease
Hit:11 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease Hit:13 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease Hit:15 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease Hit:17 https://repo.download.nvidia.com/jetson/common r32.5 InRelease Hit:18 https://repo.download.nvidia.com/jetson/t210 r32.5 InRelease
Hit:19 http://packages.ros.org/ros/ubuntu bionic InRelease
Reading package lists... Done
Building dependency tree
Reading state information... Done 23 packages can be upgraded. Run 'apt list --upgradable' to see them. N: Skipping acquire of configured file 'main/binary-armhf/Packages' as repository 'https://repo.download.nvidia.com/jetson/common r32.5 InRelease' doesn't support architecture 'armhf' N: Skipping acquire of configured file 'main/binary-armhf/Packages' as repository 'https://repo.download.nvidia.com/jetson/t210 r32.5 InRelease' doesn't support architecture 'armhf'

jetsonnanoピン配置表

Sysfs GPIO	Name	Pin	Pin	Name	Sysfs GPIO
	3.3VDC	TD	TD	TD	TD
	I2C_2_SDA	TD	TD	TD	TD
		TD	TD	TD	TD
gpio216	TD	TD	TD	TD	TD
	TD	TD	TD	TD	TD
gpio50	TD	TD	TD	TD	TD

vnc

ログ

jetsonnano@jetsonnano-desktop:~$ sudo apt install tigervnc-common
Reading package lists... Done
Building dependency tree       
Reading state information... Done
tigervnc-common is already the newest version (1.7.0+dfsg-8ubuntu2).
0 upgraded, 0 newly installed, 0 to remove and 171 not upgraded.

jetsonnano@jetsonnano-desktop:~$ sudo apt install tigervnc-standalone-server 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
tigervnc-standalone-server is already the newest version (1.7.0+dfsg-8ubuntu2).
0 upgraded, 0 newly installed, 0 to remove and 171 not upgraded.

jetsonnano@jetsonnano-desktop:~$ sudo apt install tigervnc-scraping-server 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
tigervnc-scraping-server is already the newest version (1.7.0+dfsg-8ubuntu2).
0 upgraded, 0 newly installed, 0 to remove and 171 not upgraded.

jetsonnano@jetsonnano-desktop:~$ vncpasswd
Password:
Verify:
Would you like to enter a view-only password (y/n)? n
Couldn't open /home/jetsonnano/.vnc/passwd for writing

jetsonnano@jetsonnano-desktop:~$ cd
jetsonnano@jetsonnano-desktop:~$ cd ~/.vnc
jetsonnano@jetsonnano-desktop:~/.vnc$ ls -l
total 592
-rw-rw-r-- 1 jetsonnano jetsonnano 429153  8月 31 02:13 jetsonnano-desktop:1.log
-rw-rw-r-- 1 jetsonnano jetsonnano      5  8月 30 18:14 jetsonnano-desktop:1.pid
-rw-rw-r-- 1 jetsonnano jetsonnano 156922  8月 22 02:31 jetsonnano-desktop:2.log
-rw------- 1 root       root            8  8月 31 19:41 passwd

jetsonnano@jetsonnano-desktop:~/.vnc$ chmod 664 passwd 
chmod: changing permissions of 'passwd': Operation not permitted
jetsonnano@jetsonnano-desktop:~/.vnc$ sudo chmod 664 passwd 
jetsonnano@jetsonnano-desktop:~/.vnc$ ls -l
total 592
-rw-rw-r-- 1 jetsonnano jetsonnano 429153  8月 31 02:13 jetsonnano-desktop:1.log
-rw-rw-r-- 1 jetsonnano jetsonnano      5  8月 30 18:14 jetsonnano-desktop:1.pid
-rw-rw-r-- 1 jetsonnano jetsonnano 156922  8月 22 02:31 jetsonnano-desktop:2.log
-rw-rw-r-- 1 root       root            8  8月 31 19:41 passwd

jetsonnano@jetsonnano-desktop:~$ vncpasswd
Password:
Verify:
Would you like to enter a view-only password (y/n)? n
Couldn't open /home/jetsonnano/.vnc/passwd for writing

意味なし、結局sudo vncpasswdでなければエラーがでる https://qiita.com/iwatake2222/items/a3bd8d0527dec431ef0f
のVNC Serverをデーモンとして自動起動させるを実行

jetsonnano@jetsonnano-desktop:~$ sudo vi /etc/systemd/system/x0vncserver.service
jetsonnano@jetsonnano-desktop:~$ sudo systemctl start x0vncserver.service 
jetsonnano@jetsonnano-desktop:~$ sudo systemctl status x0vncserver.service 
● x0vncserver.service - Remote desktop service (VNC)
   Loaded: loaded (/etc/systemd/system/x0vncserver.service; disabled; vendor preset: enabled)
   Active: failed (Result: exit-code) since Tue 2021-08-31 20:08:39 JST; 3s ago
  Process: 10253 ExecStart=/bin/sh -c sleep 10 && /usr/bin/x0vncserver -display :0  -rfbport 5900 
 Main PID: 10263 (code=exited, status=1/FAILURE)

 8月 31 20:08:29 jetsonnano-desktop systemd[1]: Starting Remote desktop service (VNC)...
 8月 31 20:08:29 jetsonnano-desktop systemd[1]: Started Remote desktop service (VNC).
 8月 31 20:08:39 jetsonnano-desktop systemd[1]: x0vncserver.service: Main process exited, code=exi
 8月 31 20:08:39 jetsonnano-desktop systemd[1]: x0vncserver.service: Failed with result 'exit-code

うまくいかずもう一度試す

jetsonnano@jetsonnano-desktop:~$ sudo systemctl start x0vncserver.service 
jetsonnano@jetsonnano-desktop:~$ sudo systemctl status x0vncserver.service 
● x0vncserver.service - Remote desktop service (VNC)
   Loaded: loaded (/etc/systemd/system/x0vncserver.service; disabled; vendor preset: enabled)
   Active: active (running) since Tue 2021-08-31 20:14:11 JST; 914ms ago
  Process: 10460 ExecStart=/bin/sh -c sleep 10 && /usr/bin/x0vncserver -display :0  -rfbport 5900 -passwordfile /home/jetsonnano/.vnc/passwd &
 Main PID: 10471 (sh)
    Tasks: 2 (limit: 4181)
   CGroup: /system.slice/x0vncserver.service
           ├─10471 /bin/sh -c sleep 10 && /usr/bin/x0vncserver -display :0  -rfbport 5900 -passwordfile /home/jetsonnano/.vnc/passwd &
           └─10474 sleep 10

 8月 31 20:14:11 jetsonnano-desktop systemd[1]: Starting Remote desktop service (VNC)...
 8月 31 20:14:11 jetsonnano-desktop systemd[1]: Started Remote desktop service (VNC).

jetsonnano@jetsonnano-desktop:~$ 
jetsonnano@jetsonnano-desktop:~$ 
jetsonnano@jetsonnano-desktop:~$ 
jetsonnano@jetsonnano-desktop:~$ 
jetsonnano@jetsonnano-desktop:~$ 
jetsonnano@jetsonnano-desktop:~$ sudo systemctl enable x0vncserver.service 
Created symlink /etc/systemd/system/multi-user.target.wants/x0vncserver.service → /etc/systemd/system/x0vncserver.service.
jetsonnano@jetsonnano-desktop:~$ systemctl list-units | grep vnc
● x0vncserver.service                                                                 loaded failed failed    Remote desktop service (VNC)                                               
jetsonnano@jetsonnano-desktop:~$ sudo poweroff
Connection to 192.168.0.59 closed by remote host.
Connection to 192.168.0.59 closed.

何故かうまくいく

ログ

jetsonnano@jetsonnano-desktop:~$ tigervncserver -xstartup /usr/bin/xterm
Cleaning stale pidfile '/home/jetsonnano/.vnc/jetsonnano-desktop:1.pid'!

You will require a password to access your desktops.

Password:
Verify:
Would you like to enter a view-only password (y/n)? n
/usr/bin/xauth:  /home/jetsonnano/.Xauthority not writable, changes will be ignored
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority

New 'jetsonnano-desktop:1 (jetsonnano)' desktop at :1 on machine jetsonnano-desktop

Starting applications specified in /usr/bin/xterm
Log file is /home/jetsonnano/.vnc/jetsonnano-desktop:1.log

Use xtigervncviewer -SecurityTypes VncAuth -passwd /home/jetsonnano/.vnc/passwd :1 to connect to the VNC server.

jetsonnano@jetsonnano-desktop:~$ x0vncserver -display :1 -passwordfile ~/.vnc/passwd

Wed Sep  1 20:23:31 2021
 Geometry:    Desktop geometry is set to 1900x1200+0+0
 Main:        XTest extension present - version 2.2
 Main:        Listening on port 5900

Wed Sep  1 20:23:57 2021
 Connections: accepted: 192.168.0.42::58516
 SConnection: Client needs protocol version 3.8
 SConnection: Client requests security type VncAuth(2)

Wed Sep  1 20:23:59 2021
 Main:        Enabling 8 buttons of X pointer device
 Main:        Allocated basic Xlib image
 VNCSConnST:  Server default pixel format depth 24 (32bpp) little-endian rgb888
 VNCSConnST:  Client pixel format depth 15 (16bpp) little-endian rgb555

Wed Sep  1 20:30:59 2021
 Connections: closed: 192.168.0.42::58516 (Clean disconnection)
 EncodeManager: Framebuffer updates: 248
 EncodeManager:   Tight:
 EncodeManager:     Solid: 293 rects, 3.45289 Mpixels
 EncodeManager:            4.29199 KiB (1:1572.08 ratio)
 EncodeManager:     Bitmap RLE: 404 rects, 1.58373 Mpixels
 EncodeManager:                 31.4541 KiB (1:98.4914 ratio)
 EncodeManager:     Indexed RLE: 26 rects, 153.852 kpixels
 EncodeManager:                  7.77734 KiB (1:38.676 ratio)
 EncodeManager:   Tight (JPEG):
 EncodeManager:     Full Colour: 3 rects, 9.118 kpixels
 EncodeManager:                  2.86328 KiB (1:6.23192 ratio)
 EncodeManager:   Total: 726 rects, 5.19959 Mpixels
 EncodeManager:          46.3867 KiB (1:219.114 ratio)
^C
Wed Sep  1 20:32:07 2021
 Main:        Terminated

上の操作後、別端末でx0vncserver -display :1 -passwordfile ~/.vnc/passwd　実行

jetsonnano@jetsonnano-desktop:~$ x0vncserver -display :1 -passwordfile ~/.vnc/passwd

Wed Sep  1 20:33:15 2021
 Geometry:    Desktop geometry is set to 1900x1200+0+0
 Main:        XTest extension present - version 2.2
 Main:        Listening on port 5900

Wed Sep  1 20:33:23 2021
 Connections: accepted: 192.168.0.42::58640
 SConnection: Client needs protocol version 3.8
 SConnection: Client requests security type VncAuth(2)

Wed Sep  1 20:33:27 2021
 Main:        Enabling 8 buttons of X pointer device

Wed Sep  1 20:33:28 2021
 Main:        Allocated basic Xlib image
 VNCSConnST:  Server default pixel format depth 24 (32bpp) little-endian rgb888
 VNCSConnST:  Client pixel format depth 15 (16bpp) little-endian rgb555

Wed Sep  1 20:33:52 2021
 Connections: closed: 192.168.0.42::58640 (Clean disconnection)
 EncodeManager: Framebuffer updates: 22
 EncodeManager:   Tight:
 EncodeManager:     Solid: 38 rects, 2.44798 Mpixels
 EncodeManager:            570 B (1:8590.21 ratio)
 EncodeManager:     Bitmap RLE: 43 rects, 261.036 kpixels
 EncodeManager:                 11.4258 KiB (1:44.6656 ratio)
 EncodeManager:   Total: 81 rects, 2.70902 Mpixels
 EncodeManager:          11.9824 KiB (1:441.647 ratio)
^C
Wed Sep  1 20:34:09 2021
 Main:        Terminated

再起動後x0vncserver -display :1 -passwordfile ~/.vnc/passwd　実行

jetsonnano@jetsonnano-desktop:~$ x0vncserver -display :1 -passwordfile ~/.vnc/passwd
x0vncserver: unable to open display ":1"

ログ9/3

xstartupファイルが存在するか確認

jetsonnano@jetsonnano-desktop:~$ cd ~/.vnc
jetsonnano@jetsonnano-desktop:~/.vnc$ ls
jetsonnano-desktop:1.log  jetsonnano-desktop:2.log  passwd

jetsonnano@jetsonnano-desktop:~$ cd /etc/vnc
-bash: cd: /etc/vnc: No such file or directory
jetsonnano@jetsonnano-desktop:~$ cd /etc/
jetsonnano@jetsonnano-desktop:/etc$ ls
adduser.conf                   host.conf                 passwd-
alternatives                   hostname                  pcmcia
anacrontab                     hosts                     perl
apache2                        hosts.allow               pki
apg.conf                       hosts.deny                pm
apm                            hp                        pnm2ppa.conf
apparmor                       idmapd.conf               polkit-1
apparmor.d                     ifplugd                   ppp
apport                         ImageMagick-6             profile
appstream.conf                 init                      profile.d
apt                            init.d                    protocols
asound.conf                    initramfs-tools           pulse
asound.conf.tegrahda           inputrc                   python
asound.conf.tegrasndt210ref    insserv.conf.d            python2.7
avahi                          iproute2                  python3
avrdude.conf                   issue                     python3.6
bash.bashrc                    issue.net                 rc0.d
bash_completion                kernel                    rc1.d
bash_completion.d              kerneloops.conf           rc2.d
bindresvport.blacklist         ldap                      rc3.d
binfmt.d                       ld.so.cache               rc4.d
bluetooth                      ld.so.conf                rc5.d
bonobo-activation              ld.so.conf.d              rc6.d
brlapi.key                     legal                     rcS.d
brltty                         libao.conf                request-key.conf
brltty.conf                    libaudit.conf             request-key.d
ca-certificates                libblockdev               resolvconf
ca-certificates.conf           libibverbs.d              resolv.conf
ca-certificates.conf.dpkg-old  libnl-3                   rmt
calendar                       libpaper.d                ros
chatscripts                    libreoffice               rpc
chromium-browser               lightdm                   rsyslog.conf
chrony                         lighttpd                  rsyslog.d
cni                            lintianrc                 sane.d
compizconfig                   locale.alias              sbclrc
console-setup                  locale.gen                securetty
cracklib                       localtime                 security
cron.d                         logcheck                  selinux
cron.daily                     login.defs                sensors3.conf
cron.hourly                    logrotate.conf            sensors.d
cron.monthly                   logrotate.d               services
crontab                        lsb-release               sgml
cron.weekly                    machine-id                shadow
crypttab                       magic                     shadow-
cupshelpers                    magic.mime                shells
dbus-1                         mailcap                   skel
dconf                          mailcap.order             sound
debconf.conf                   manpath.config            speech-dispatcher
debian_version                 matplotlibrc              ssh
default                        menu                      ssl
deluser.conf                   menu-methods              subgid
depmod.d                       mercurial                 subgid-
dhcp                           mime.types                subuid
dictionaries-common            mke2fs.conf               subuid-
dnsmasq.conf                   modprobe.d                subversion
dnsmasq.d                      modules                   sudoers
docker                         modules-load.d            sudoers.d
dpkg                           mpv                       su-to-rootrc
drirc                          mtab                      sysctl.conf
emacs                          mysql                     sysctl.d
enctune.conf                   netconfig                 systemd
environment                    network                   terminfo
fb.modes                       networkd-dispatcher       thunderbird
ffserver.conf                  NetworkManager            tigervnc
firefox                        networks                  timezone
fonts                          newt                      timidity
fstab                          nsswitch.conf             tmpfiles.d
fuse.conf                      ntp.conf                  ucf.conf
fwupd                          nv                        udev
gai.conf                       nv_boot_control.conf      udisks2
gconf                          nvidia-container-runtime  ufw
gdb                            nv-oem-config.conf        update-manager
gdm3                           nvphsd_common.conf        update-motd.d
geoclue                        nvphsd.conf               update-notifier
ghostscript                    nvpmodel                  UPower
glvnd                          nvpmodel.conf             usb_modeswitch.conf
gnome                          nv_tegra_release          usb_modeswitch.d
gnome-system-tools             ODBCDataSources           vdpau_wrapper.cfg
gnome-vfs-2.0                  odbc.ini                  vim
groff                          odbcinst.ini              vnc.conf
group                          openal                    vtrgb
group-                         openmpi                   vulkan
grub.d                         openni                    wgetrc
gshadow                        openni2                   wildmidi
gshadow-                       opt                       wpa_supplicant
gss                            os-release                wpa_supplicant.conf
gtk-2.0                        PackageKit                X11
gtk-3.0                        pam.conf                  xdg
guest-session                  pam.d                     xml
hddtemp.db                     passwd

/etc/vnc/xstartup $HOME/.vnc/xstartupどちらも存在していない

/etc/X11/xorg.confを編集

jetsonnano@jetsonnano-desktop:~$ cd /etc/X11/
jetsonnano@jetsonnano-desktop:/etc/X11$ ls
app-defaults                      xinit               Xresources
cursors                           xkb                 Xsession
default-display-manager           Xloadimage          Xsession.d
default-display-manager.dpkg-tmp  xorg.conf           Xsession.options
fonts                             xorg.conf.jetson_e  xsm
openbox                           Xreset              Xvnc-session
rgb.txt                           Xreset.d            Xwrapper.config
jetsonnano@jetsonnano-desktop:/etc/X11$ vim xorg.conf
jetsonnano@jetsonnano-desktop:/etc/X11$ sudo vim xorg.conf
[sudo] password for jetsonnano:

編集前xorg.conf

# Copyright (c) 2011-2013 NVIDIA CORPORATION.  All Rights Reserved.

#
# This is the minimal configuration necessary to use the Tegra driver.
# Please refer to the xorg.conf man page for more configuration
# options provided by the X server, including display-related options
# provided by RandR 1.2 and higher.

# Disable extensions not useful on Tegra.
Section "Module"
    Disable     "dri"
    SubSection  "extmod"
        Option  "omit xfree86-dga"
    EndSubSection
EndSection

Section "Device"
    Identifier  "Tegra0"
    Driver      "nvidia"
# Allow X server to be started even if no display devices are connected.
    Option      "AllowEmptyInitialConfiguration" "true"
EndSection

編集後xorg.conf

# Copyright (c) 2011-2013 NVIDIA CORPORATION.  All Rights Reserved.

#
# This is the minimal configuration necessary to use the Tegra driver.
# Please refer to the xorg.conf man page for more configuration
# options provided by the X server, including display-related options
# provided by RandR 1.2 and higher.

# Disable extensions not useful on Tegra.
Section "Module"
    Disable     "dri"
    SubSection  "extmod"
        Option  "omit xfree86-dga"
    EndSubSection
EndSection

Section "Device"
    Identifier  "Tegra0"
    Driver      "nvidia"
# Allow X server to be started even if no display devices are connected.
    Option      "AllowEmptyInitialConfiguration" "true"
EndSection


Section "Monitor"
   Identifier "DSI-0"
   Option    "Ignore"
EndSection

Section "Screen"
   Identifier    "Default Screen"
   Monitor        "Configured Monitor"
   Device        "Default Device"
   SubSection "Display"
       Depth    24
       Virtual 1280 800
   EndSubSection
EndSection

ログ9/4

xstartupファイルを作成

$ cd ~/.vnc
$ vim xstartup

xstartupファイル

#!/bin/sh
#Gnome3desktop wo boot suru
[-x/etc/vnc/xstartup]&&exec/etc/vnc/startup
[-r$HOME/.Xresources]&&xrdb$HOME/.Xresources
vncconfig -iconic&
dbus-launch --exit-with-session gnome-session&

接続を試す

jetsonnano@jetsonnano-desktop:~$ vncserver :5
/usr/bin/xauth:  /home/jetsonnano/.Xauthority not writable, changes will be ignored
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority

New 'jetsonnano-desktop:5 (jetsonnano)' desktop at :5 on machine jetsonnano-desktop

Starting applications specified in /home/jetsonnano/.vnc/xstartup
Log file is /home/jetsonnano/.vnc/jetsonnano-desktop:5.log

Use xtigervncviewer -SecurityTypes VncAuth -passwd /home/jetsonnano/.vnc/passwd :5 to connect to the VNC server.

ubuntu-gnome-desktopをインストール

jetsonnano@jetsonnano-desktop:~$ sudo apt install ubuntu-gnome-desktop
[sudo] password for jetsonnano: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  adwaita-icon-theme-full fonts-cantarell gnome-session
The following NEW packages will be installed:
  adwaita-icon-theme-full fonts-cantarell gnome-session ubuntu-gnome-desktop
0 upgraded, 4 newly installed, 0 to remove and 173 not upgraded.
Need to get 8,186 kB of archives.
After this operation, 23.5 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 adwaita-icon-theme-full all 3.28.0-1ubuntu1 [7,999 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 fonts-cantarell all 0.0.25-4 [141 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe arm64 gnome-session arm64 3.28.1-0ubuntu3 [43.8 kB]
Get:4 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 ubuntu-gnome-desktop arm64 0.83 [2,816 B]
Fetched 8,186 kB in 5s (1,798 kB/s)              
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package adwaita-icon-theme-full.
(Reading database ... 248315 files and directories currently installed.)
Preparing to unpack .../adwaita-icon-theme-full_3.28.0-1ubuntu1_all.deb ...
Unpacking adwaita-icon-theme-full (3.28.0-1ubuntu1) ...
Selecting previously unselected package fonts-cantarell.
Preparing to unpack .../fonts-cantarell_0.0.25-4_all.deb ...
Unpacking fonts-cantarell (0.0.25-4) ...
Selecting previously unselected package gnome-session.
Preparing to unpack .../gnome-session_3.28.1-0ubuntu3_arm64.deb ...
Unpacking gnome-session (3.28.1-0ubuntu3) ...
Selecting previously unselected package ubuntu-gnome-desktop.
Preparing to unpack .../ubuntu-gnome-desktop_0.83_arm64.deb ...
Unpacking ubuntu-gnome-desktop (0.83) ...
Setting up fonts-cantarell (0.0.25-4) ...
Setting up gnome-session (3.28.1-0ubuntu3) ...
Setting up ubuntu-gnome-desktop (0.83) ...
Setting up adwaita-icon-theme-full (3.28.0-1ubuntu1) ...
Processing triggers for fontconfig (2.12.6-0ubuntu2) ...

接続を試す

jetsonnano@jetsonnano-desktop:~$ vncserver -list

TigerVNC server sessions:

X DISPLAY #	PROCESS ID
:5		12678
jetsonnano@jetsonnano-desktop:~$ vncserver :5
A VNC/X11 server is already running as :5 on machine jetsonnano-desktop
jetsonnano@jetsonnano-desktop:~$ vncserver -kill:5
/usr/bin/xauth:  /home/jetsonnano/.Xauthority not writable, changes will be ignored
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority
vncserver: /usr/bin/Xtigervnc did not start up, please look into '/home/jetsonnano/.vnc/jetsonnano-desktop:1.log' to determine the reason! -2
jetsonnano@jetsonnano-desktop:~$ vncserver :5
A VNC/X11 server is already running as :5 on machine jetsonnano-desktop
jetsonnano@jetsonnano-desktop:~$ vncserver -list

TigerVNC server sessions:

X DISPLAY #	PROCESS ID
:5		12678
jetsonnano@jetsonnano-desktop:~$ vncserver -kill:5
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority
vncserver: /usr/bin/Xtigervnc did not start up, please look into '/home/jetsonnano/.vnc/jetsonnano-desktop:1.log' to determine the reason! -2

killができない
→killのコマンドは、

$ vncserver -kill :5

x0vncserverserviceを有効にしていたので、無効化

jetsonnano@jetsonnano-desktop:~$ systemctl list-units | grep vnc
● x0vncserver.service                                                                 loaded failed failed    Remote desktop service (VNC)                                               
jetsonnano@jetsonnano-desktop:~$ sudo systemctl disenable x0vncserver.service 
[sudo] password for jetsonnano: 
Unknown operation disenable.
jetsonnano@jetsonnano-desktop:~$ sudo systemctl unenable x0vncserver.service 
Unknown operation unenable.
jetsonnano@jetsonnano-desktop:~$ systemctl is-enabled x0vncserver.service
enabled
jetsonnano@jetsonnano-desktop:~$ sudo systemctl disable x0vncserver.service 
Removed /etc/systemd/system/multi-user.target.wants/x0vncserver.service.

ログ9/6

参考： https://www.answertopia.com/ubuntu/ubuntu-remote-desktop-access-with-vino/
vinoを導入

$ sudo apt install vino

画面共有をオン

NVIDAのロゴマーク表記がディスプレイから見切れるように映る
jetsonnanoにHDMIでディスプレイを接続した際のGUIが前回と変化していた

remmina NVIDAのロゴマーク表記がディスプレイから見切れるように映る

参考： https://www.hackster.io/news/getting-started-with-the-nvidia-jetson-nano-developer-kit-43aa7c298797

xrdpをインストール

jetsonnano@jetsonnano-desktop:~$ sudo apt install xrdp
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  ssl-cert xorgxrdp
Suggested packages:
  openssl-blacklist guacamole xrdp-pulseaudio-installer
The following NEW packages will be installed:
  ssl-cert xorgxrdp xrdp
0 upgraded, 3 newly installed, 0 to remove and 173 not upgraded.
Need to get 460 kB of archives.
After this operation, 3,197 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/main arm64 ssl-cert all 1.0.39 [17.0 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 xorgxrdp arm64 0.9.5-2 [68.7 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 xrdp arm64 0.9.5-2 [374 kB]
Fetched 460 kB in 2s (288 kB/s)
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package ssl-cert.
(Reading database ... 252826 files and directories currently installed.)
Preparing to unpack .../ssl-cert_1.0.39_all.deb ...
Unpacking ssl-cert (1.0.39) ...
Selecting previously unselected package xorgxrdp.
Preparing to unpack .../xorgxrdp_0.9.5-2_arm64.deb ...
Unpacking xorgxrdp (0.9.5-2) ...
Selecting previously unselected package xrdp.
Preparing to unpack .../xrdp_0.9.5-2_arm64.deb ...
Unpacking xrdp (0.9.5-2) ...
Setting up ssl-cert (1.0.39) ...
Setting up xrdp (0.9.5-2) ...

Generating 2048 bit rsa key...

ssl_gen_key_xrdp1 ok

saving to /etc/xrdp/rsakeys.ini

Created symlink /etc/systemd/system/multi-user.target.wants/xrdp-sesman.service → /lib/systemd/system/xrdp-sesman.service.
Created symlink /etc/systemd/system/multi-user.target.wants/xrdp.service → /lib/systemd/system/xrdp.service.
Setting up xorgxrdp (0.9.5-2) ...
Processing triggers for systemd (237-3ubuntu10.48) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.4) ...

org.gnome.Vino.gschemaを編集

jetsonnano@jetsonnano-desktop:~$ sudo vi /usr/share/glib-2.0/schemas/org.gnome.Vino.gschema.xml

追加部(最下部に追加)

    <key name='enabled' type='b'>
      <summary>Enable remote access to the desktop</summary>
        <description>
          If true, allows remote access to the desktop via the RFB
          protocol. Users on remote machines may then connect to the
          desktop using a VNC viewer.
        </description>
      <default>false</default>
    </key>

glib-compile-schemasコマンドを使用してGnomeスキーマをコンパイル

sudo glib-compile-schemas /usr/share/glib-2.0/schemas

VNC接続の暗号化を無効

jetsonnano@jetsonnano-desktop:~$ gsettings set org.gnome.Vino require-encryption false
jetsonnano@jetsonnano-desktop:~$ gsettings set org.gnome.Vino prompt-enabled false

nmapをインストール

jetsonnano@jetsonnano-desktop:~$ nmap jetson
-bash: nmap: command not found
jetsonnano@jetsonnano-desktop:~$ sudo apt install nmap
[sudo] password for jetsonnano: 
Sorry, try again.
[sudo] password for jetsonnano: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  liblinear3
Suggested packages:
  liblinear-tools liblinear-dev ndiff
The following NEW packages will be installed:
  liblinear3 nmap
0 upgraded, 2 newly installed, 0 to remove and 173 not upgraded.
Need to get 5,154 kB of archives.
After this operation, 24.0 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/main arm64 liblinear3 arm64 2.1.0+dfsg-2 [35.1 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic/main arm64 nmap arm64 7.60-1ubuntu5 [5,118 kB]
Fetched 5,154 kB in 4s (1,190 kB/s)
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package liblinear3:arm64.
(Reading database ... 252954 files and directories currently installed.)
Preparing to unpack .../liblinear3_2.1.0+dfsg-2_arm64.deb ...
Unpacking liblinear3:arm64 (2.1.0+dfsg-2) ...
Selecting previously unselected package nmap.
Preparing to unpack .../nmap_7.60-1ubuntu5_arm64.deb ...
Unpacking nmap (7.60-1ubuntu5) ...
Setting up liblinear3:arm64 (2.1.0+dfsg-2) ...
Setting up nmap (7.60-1ubuntu5) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...
Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
jetsonnano@jetsonnano-desktop:~$

ssh通信できなくなる
jetsonnanoがwifiに接続できなくなる
ドングルを挿し直して、再起動するとつながるようになる

jetsonnanoにディスプレイを接続していないままremminaで接続、
見切れたNVIDAのロゴマークのみ映る
操作は効かない
接続したままjetsonnanoにディスプレイを接続すると
vnc画面は真っ暗、接続したディスプレイにはGUIが表示される
ディスプレイを抜くと
vnc画面に背景画面が真っ黒なGUIが表示される
terminal等アプリを開くことができない

jetsonnano@jetsonnano-desktop:~$ nmap jetsonnano-desktop 

Starting Nmap 7.60 ( https://nmap.org ) at 2021-12-18 00:21 JST
Nmap scan report for jetsonnano-desktop (127.0.1.1)
Host is up (0.00036s latency).
Not shown: 996 closed ports
PORT     STATE SERVICE
22/tcp   open  ssh
111/tcp  open  rpcbind
3389/tcp open  ms-wbt-server
5900/tcp open  vnc

Nmap done: 1 IP address (1 host up) scanned in 0.16 seconds

vncのポートが開いている ms-wbt-serverはxrdpを導入したため

windowsでrealVNCから接続 remminaで接続した際と同じく、NVIDIAのロゴマークのみ映る

vinoで接続した状態、経緯をissueに記述して、先輩に質問する

ログ10/11

高橋先輩に見てもらいながらvncseverを立ち上げる

jetsonnano@jetsonnano-desktop:~$ vncserver -localhost no -geometry 1920x1080 -depth 24 :1

立ち上がったが、

/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority

が出たため、/home/jetsonnano/.Xauthorityがあるか確認

ls /home/jetsonnano/Xauthority

存在を確認できた

catで見る

cat /home/jetsonnano/.Xauthority

permission denyide みたいなのが出る

chownで権限をどうこうする

chown　/home/jetsonnano/.Xauthority

接続を試す vncviewerを導入しようとしたが、断念　→もう一度試す

remminaで接続を試す

jetsonnano@jetsonnano-desktop:~$ vncserver -localhost no -geometry 1920x1080 -depth 24 :1

remminaでvnc

<ip address>:5901

と入力して接続黒い画面が表示される先輩曰く、desktopが立ち上がっていない状態らしい。

jetsonnanoにディスプレイを接続してみる GUIらしき画面が映るその状態で remminaでvnc

<ip address>:5900

と入力して接続パスワードの認証で失敗する。

xstartupを確認変更前

#!/bin/sh
#Gnome3desktop wo boot suru
[-x/etc/vnc/xstartup]&&exec/etc/vnc/startup
[-r$HOME/.Xresources]&&xrdb$HOME/.Xresources
vncconfig -iconic&
dbus-launch --exit-with-session gnome-session&

変更後変更点：最下行を変更、[]がある文を正しくスペースを挿入する↓

#!/bin/sh
#Gnome3desktop wo boot suru
[ -x /etc/vnc/xstartup ] && exec /etc/vnc/startup
[ -r $HOME/.Xresources ] && xrdb $HOME/.Xresources
vncconfig -iconic&
XDG_SESSION_TYPE=x11 GNOME_SHELL_SESSION_MODE=ubuntu dbus-launch --exit-with-session gnome-session --session=ubuntu

最下行は、秘伝のタレ、伝家の宝刀らしい　よくわかっていない。

xstart変更後再度接続を試す

jetsonnano@jetsonnano-desktop:~$ chmod 600 .Xauthority
jetsonnano@jetsonnano-desktop:~$ vncserver -localhost no -geometry 1920x1080 -depth 24 -xstartup /home/jetsonnano/.vnc/xstartup -passwordfile /home/jetsonnano/.vnc/passwd -verbose :1
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority
/usr/bin/xauth:  timeout in locking authority file /home/jetsonnano/.Xauthority
/usr/bin/Xtigervnc :1 -desktop jetsonnano-desktop:1 (jetsonnano) -auth /home/jetsonnano/.Xauthority -geometry 1920x1080 -depth 24 -rfbwait 30000 -rfbauth /home/jetsonnano/.vnc/passwd -rfbport 5901 -pn -SecurityTypes VncAuth,TLSVnc

New 'jetsonnano-desktop:1 (jetsonnano)' desktop at :1 on machine jetsonnano-desktop

Starting applications specified in /home/jetsonnano/.vnc/xstartup
Log file is /home/jetsonnano/.vnc/jetsonnano-desktop:1.log

Use xtigervncviewer -SecurityTypes VncAuth,TLSVnc -passwd /home/jetsonnano/.vnc/passwd jetsonnano-desktop:1 to connect to the VNC server.

/home/jetsonnano/.vnc/xstartup

remminaでvnc

<ip address>:5901

と入力して接続黒い画面が表示される。

結果

vncserverの問題ではなくOS等の問題に近い guiをjetsonnano側で扱うこと、gpuを使用しながらvncも使うのはちょっと難しい　ので、可能であればvncをやめる、もしくはgui等はpc側で行う先生曰く、pc側はwindowsでvncviewerのみ導入したい　ということ jetsonnanoOS導入時に色々やって、おそらくきれいな状態ではない OSを焼き直しする。 ※CUIのみで環境構築を行うことができれば、スクリプトを組み、コマンドを叩いていけば環境構築ができるようになる(GUIを使わない)

ログ11/17

https://wooolwoool.hatenablog.com/entry/2021/03/10/235851 環境構築中のエラー　 pip3,pipはインストールした　

root@jetsonnano-desktop:~# apt install python3-pip
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  python-pip-whl
Recommended packages:
  python3-setuptools python3-wheel
The following packages will be upgraded:
  python-pip-whl python3-pip
2 upgraded, 0 newly installed, 0 to remove and 87 not upgraded.
Need to get 1767 kB of archives.
After this operation, 0 B of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe arm64 python3-pip all 9.0.1-2.3~ubuntu1.18.04.5 [114 kB]
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe arm64 python-pip-whl all 9.0.1-2.3~ubuntu1.18.04.5 [1653 kB]
Fetched 1767 kB in 3s (697 kB/s)          
debconf: delaying package configuration, since apt-utils is not installed
(Reading database ... 43404 files and directories currently installed.)
Preparing to unpack .../python3-pip_9.0.1-2.3~ubuntu1.18.04.5_all.deb ...
Unpacking python3-pip (9.0.1-2.3~ubuntu1.18.04.5) over (9.0.1-2.3~ubuntu1.18.04.4) ...
Preparing to unpack .../python-pip-whl_9.0.1-2.3~ubuntu1.18.04.5_all.deb ...
Unpacking python-pip-whl (9.0.1-2.3~ubuntu1.18.04.5) over (9.0.1-2.3~ubuntu1.18.04.4) ...
Setting up python-pip-whl (9.0.1-2.3~ubuntu1.18.04.5) ...
Setting up python3-pip (9.0.1-2.3~ubuntu1.18.04.5) ...

root@jetsonnano-desktop:~# apt install python-pip
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  libpython-all-dev libpython-dev libpython2.7

root@jetsonnano-desktop:~# apt update && apt install -y python3-opencv ssh && pip3 install -U pip && pip3 install requests tqdm pyyaml seaborn pycocotools thop
Hit:1 http://ports.ubuntu.com/ubuntu-ports bionic InRelease
Get:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease [88.7 kB]
Get:3 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease [74.6 kB]
Get:4 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease [88.7 kB]
Fetched 252 kB in 2s (121 kB/s)    
Reading package lists... Done
Building dependency tree       
Reading state information... Done
82 packages can be upgraded. Run 'apt list --upgradable' to see them.
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ssh is already the newest version (1:7.6p1-4ubuntu0.5).
python3-opencv is already the newest version (3.2.0+dfsg-4ubuntu0.1).
0 upgraded, 0 newly installed, 0 to remove and 82 not upgraded.
Collecting pip
  Retrying (Retry(total=4, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),)': /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl
  Retrying (Retry(total=3, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),)': /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl
  Retrying (Retry(total=2, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),)': /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl
  Retrying (Retry(total=1, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),)': /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl
  Retrying (Retry(total=0, connect=None, read=None, redirect=None, status=None)) after connection broken by 'SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),)': /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl
Exception:
Traceback (most recent call last):
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 601, in urlopen
    chunked=chunked)
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 346, in _make_request
    self._validate_conn(conn)
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 852, in _validate_conn
    conn.connect()
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connection.py", line 340, in connect
    ssl_context=context)
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/util/ssl_.py", line 332, in ssl_wrap_socket
    return context.wrap_socket(sock, server_hostname=server_hostname)
  File "/usr/lib/python3.6/ssl.py", line 407, in wrap_socket
    _context=self, _session=session)
  File "/usr/lib/python3.6/ssl.py", line 817, in __init__
    self.do_handshake()
  File "/usr/lib/python3.6/ssl.py", line 1077, in do_handshake
    self._sslobj.do_handshake()
  File "/usr/lib/python3.6/ssl.py", line 689, in do_handshake
    self._sslobj.do_handshake()
ssl.SSLError: [SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/share/python-wheels/requests-2.18.4-py2.py3-none-any.whl/requests/adapters.py", line 440, in send
    timeout=timeout
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 668, in urlopen
    **response_kw)
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 668, in urlopen
    **response_kw)
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 668, in urlopen
    **response_kw)
  [Previous line repeated 2 more times]
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/connectionpool.py", line 639, in urlopen
    _stacktrace=sys.exc_info()[2])
  File "/usr/share/python-wheels/urllib3-1.22-py2.py3-none-any.whl/urllib3/util/retry.py", line 398, in increment
    raise MaxRetryError(_pool, url, error or ResponseError(cause))
urllib3.exceptions.MaxRetryError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Max retries exceeded with url: /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl (Caused by SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),))

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/pip/basecommand.py", line 215, in main
    status = self.run(options, args)
  File "/usr/lib/python3/dist-packages/pip/commands/install.py", line 353, in run
    wb.build(autobuilding=True)
  File "/usr/lib/python3/dist-packages/pip/wheel.py", line 749, in build
    self.requirement_set.prepare_files(self.finder)
  File "/usr/lib/python3/dist-packages/pip/req/req_set.py", line 380, in prepare_files
    ignore_dependencies=self.ignore_dependencies))
  File "/usr/lib/python3/dist-packages/pip/req/req_set.py", line 620, in _prepare_file
    session=self.session, hashes=hashes)
  File "/usr/lib/python3/dist-packages/pip/download.py", line 821, in unpack_url
    hashes=hashes
  File "/usr/lib/python3/dist-packages/pip/download.py", line 659, in unpack_http_url
    hashes)
  File "/usr/lib/python3/dist-packages/pip/download.py", line 876, in _download_http_url
    stream=True,
  File "/usr/share/python-wheels/requests-2.18.4-py2.py3-none-any.whl/requests/sessions.py", line 533, in get
    return self.request('GET', url, **kwargs)
  File "/usr/lib/python3/dist-packages/pip/download.py", line 386, in request
    return super(PipSession, self).request(method, url, *args, **kwargs)
  File "/usr/share/python-wheels/requests-2.18.4-py2.py3-none-any.whl/requests/sessions.py", line 520, in request
    resp = self.send(prep, **send_kwargs)
  File "/usr/share/python-wheels/requests-2.18.4-py2.py3-none-any.whl/requests/sessions.py", line 630, in send
    r = adapter.send(request, **kwargs)
  File "/usr/share/python-wheels/CacheControl-0.11.7-py2.py3-none-any.whl/cachecontrol/adapter.py", line 47, in send
    resp = super(CacheControlAdapter, self).send(request, **kw)
  File "/usr/share/python-wheels/requests-2.18.4-py2.py3-none-any.whl/requests/adapters.py", line 506, in send
    raise SSLError(e, request=request)
requests.exceptions.SSLError: HTTPSConnectionPool(host='files.pythonhosted.org', port=443): Max retries exceeded with url: /packages/a4/6d/6463d49a933f547439d6b5b98b46af8742cc03ae83543e4d7688c2420f8b/pip-21.3.1-py3-none-any.whl (Caused by SSLError(SSLError(1, '[SSL: CERTIFICATE_VERIFY_FAILED] certificate verify failed (_ssl.c:852)'),))

ログ11/28

参考：https://qiita.com/MMM-lab/items/04431add6210c80d3462

jetsonnano@jetsonnano-desktop:~$ mkdir workspa
jetsonnano@jetsonnano-desktop:~$ cd workspa/
jetsonnano@jetsonnano-desktop:~/workspa$ mkdir src
jetsonnano@jetsonnano-desktop:~/workspa/src$ git clone --recursive https://github.com/kunaltyagi/darknet_ros.git
Cloning into 'darknet_ros'...
remote: Enumerating objects: 3023, done.
remote: Counting objects: 100% (13/13), done.
remote: Compressing objects: 100% (13/13), done.
remote: Total 3023 (delta 2), reused 0 (delta 0), pack-reused 3010
Receiving objects: 100% (3023/3023), 131.42 MiB | 4.41 MiB/s, done.
Resolving deltas: 100% (1396/1396), done.

Submodule 'darknet' (https://github.com/pjreddie/darknet) registered for path 'darknet'
Cloning into '/home/jetsonnano/workspa/src/darknet_ros/darknet'...
remote: Enumerating objects: 5940, done.        
remote: Total 5940 (delta 0), reused 0 (delta 0), pack-reused 5940        
Receiving objects: 100% (5940/5940), 6.36 MiB | 3.99 MiB/s, done.
Resolving deltas: 100% (3926/3926), done.
Submodule path 'darknet': checked out '508381b37fe75e0e1a01bcb2941cb0b31eb0e4c9'

jetsonnano@jetsonnano-desktop:~/workspa/src$ cd darknet_ros/
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ git branch -a
* master
  remotes/origin/HEAD -> origin/master
  remotes/origin/alexeyab
  remotes/origin/feature/ros_separation
  remotes/origin/fix/image_publisher
  remotes/origin/fix/ros_buildserver
  remotes/origin/master
  remotes/origin/opencv4
  remotes/origin/release
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ git checkout -b opencv4 origin/opencv4
M	darknet

Branch 'opencv4' set up to track remote branch 'opencv4' from 'origin'.
Switched to a new bra
etsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ git branch -a
  master
* opencv4
  remotes/origin/HEAD -> origin/master
  remotes/origin/alexeyab
  remotes/origin/feature/ros_separation
  remotes/origin/fix/image_publisher
  remotes/origin/fix/ros_buildserver
  remotes/origin/master
  remotes/origin/opencv4
  remotes/origin/release
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ git submodule update --recursive
remote: Enumerating objects: 31, done.
remote: Counting objects: 100% (16/16), done.
remote: Total 31 (delta 16), reused 16 (delta 16), pack-reused 15
Unpacking objects: 100% (31/31), done.
From https://github.com/pjreddie/darknet
 * branch            cb82c21fbbaf06177e49ea20660487b1fbe08d54 -> FETCH_HEAD
Submodule path 'darknet': checked out 'cb82c21fbbaf06177e49ea20660487b1fbe08d54'nch 'opencv4'

.bashrcの末尾に

export PATH=$PATH:/usr/local/cuda/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64

を追加

jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ cd
jetsonnano@jetsonnano-desktop:~$ vi .bashrc

変更前(末尾)

# export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libgtk3-nocsd.so.0
source ~/workspace/devel/setup.bash
alias eb='nano ~/.bashrc'
alias sb='source ~/.bashrc'
alias gs='git status'
alias gp='git pull'
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
source ~/catkin_ws/devel/setup.bash

変更後（末尾）

# export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libgtk3-nocsd.so.0
source ~/workspace/devel/setup.bash
alias eb='nano ~/.bashrc'
alias sb='source ~/.bashrc'
alias gs='git status'
alias gp='git pull'
alias cw='cd ~/catkin_ws'
alias cs='cd ~/catkin_ws/src'
alias cm='cd ~/catkin_ws && catkin_make'
source ~/catkin_ws/devel/setup.bash
export PATH=$PATH:/usr/local/cuda/bin
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda/lib64

jetsonnano@jetsonnano-desktop:~$ source ~/.bashrc

CMakeLists.txtを変更

jetsonnano@jetsonnano-desktop:~$ cd workspa/src/darknet_ros/
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ ls
darknet  darknet_ros  darknet_ros_msgs  jenkins-pipeline  LICENSE  README.md
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros$ cd darknet_ros
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros/darknet_ros$ ls
CHANGELOG.rst  CMakeLists.txt  config  doc  include  launch  package.xml  src  test  yolo_network_config
jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros/darknet_ros$ vi CMakeLists.txt

-gencode arch=compute_72,code=sm_72を追加（30行目）

# Find CUDA
find_package(CUDA QUIET)
if (CUDA_FOUND)
  find_package(CUDA REQUIRED)
  message(STATUS "CUDA Version: ${CUDA_VERSION_STRINGS}")
  message(STATUS "CUDA Libararies: ${CUDA_LIBRARIES}")
  set(
    CUDA_NVCC_FLAGS
    ${CUDA_NVCC_FLAGS};
    -O3
    -gencode arch=compute_30,code=sm_30
    -gencode arch=compute_35,code=sm_35
    -gencode arch=compute_50,code=[sm_50,compute_50]
    -gencode arch=compute_52,code=[sm_52,compute_52]
    -gencode arch=compute_61,code=sm_61
    -gencode arch=compute_62,code=sm_62
    -gencode arch=compute_72,code=sm_72
  )
  add_definitions(-DGPU)
else()
  list(APPEND LIBRARIES "m")
endif()

${CUDA_TOOLKIT_ROOT_DIR}/libを変更(142行) 変更前

if (CUDA_FOUND)

  link_directories(
    ${CUDA_TOOLKIT_ROOT_DIR}/lib
  )

  cuda_add_library(${PROJECT_NAME}_lib
    ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
    ${DARKNET_CUDA_FILES}
  )

  target_link_libraries(${PROJECT_NAME}_lib
    cuda
    cudart
    cublas
    curand
  )

  cuda_add_executable(${PROJECT_NAME}
    src/yolo_object_detector_node.cpp
  )

else()

変更後

if (CUDA_FOUND)

  link_directories(
    ${CUDA_TOOLKIT_ROOT_DIR}/lib64
  )

  cuda_add_library(${PROJECT_NAME}_lib
    ${PROJECT_LIB_FILES} ${DARKNET_CORE_FILES}
    ${DARKNET_CUDA_FILES}
  )

  target_link_libraries(${PROJECT_NAME}_lib
    cuda
    cudart
    cublas
    curand
  )

  cuda_add_executable(${PROJECT_NAME}
    src/yolo_object_detector_node.cpp
  )

else()

ビルドする

jetsonnano@jetsonnano-desktop:~/workspa/src/darknet_ros/darknet_ros$ cd ~/workspa
jetsonnano@jetsonnano-desktop:~/workspa$ catkin_make -DCMAKE_BUILD_TYPE=Release

ビルドwarning吐き始め

[ 47%] Building NVCC (Device) object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/darknet_ros_lib_generated_convolutional_kernels.cu.o
Scanning dependencies of target darknet_ros_lib
[ 51%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/src/image_interface.cpp.o
[ 51%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/activation_layer.cpp.o
[ 51%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/activations.cpp.o
[ 48%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/src/YoloObjectDetector.cpp.o
/home/jetsonnano/workspa/src/darknet_ros/darknet/src/activations.cpp: In function ‘char* get_activation_string(ACTIVATION)’:
/home/jetsonnano/workspa/src/darknet_ros/darknet/src/activations.cpp:12:20: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
             return "logistic";
                    ^~~~~~~~~~
/home/jetsonnano/workspa/src/darknet_ros/darknet/src/activations.cpp:14:20: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
             return "loggy";
                    ^~~~~~~
/home/jetsonnano/workspa/src/darknet_ros/darknet/src/activations.cpp:16:20: warning: ISO C++ forbids converting a string constant to ‘char*’ [-Wwrite-strings]
             return "relu";
                 ^~~~~~

ビルド完了？

中略
[ 98%] Linking CXX shared library /home/jetsonnano/workspa/devel/lib/libdarknet_ros_lib.so
[ 98%] Built target darknet_ros_lib
Scanning dependencies of target darknet_ros
[ 98%] Building CXX object darknet_ros/darknet_ros/CMakeFiles/darknet_ros.dir/src/yolo_object_detector_node.cpp.o
[100%] Linking CXX executable /home/jetsonnano/workspa/devel/lib/darknet_ros/darknet_ros
[100%] Built target darknet_ros

実行方法がわからない