Jetson Xavier NX setup - robotique-udes/zeus_rover GitHub Wiki

Jetson Xavier NX setup

Tested with ROS Melodic running on Ubuntu 18.04 with jetpack 4.6 and L4T r32.6.1.

This guide will show you how to set up the Jetson Xavier NX for the Zeus rover with Ubuntu 18.04 and ROS Melodic.

Software setup

  1. Follow these instructions to install the image on the microSD card. On first boot, choose "automatic login" for simplicity of use.

  2. Install ROS Melodic by following these instructions

  3. Setup a VNC server for easy access without a monitor. Once the server is configured, it will be possible to connect to it by using a VNC client such as Remmnia with the Jetson's IP address.

  4. (optional, but useful for testing) Create a wifi hotspot so that any computer can easily connect to the Jetson. Note, this means the Jetson will not be able to connect to another wifi hotspot, but it will make debugging easier as you won't need to connect to a network in order to SSH or VNC into the Jetson.

    a. Click on the wifi icon on the right side of the status bar and click on edit connections at the bottom of the menu.

    b. In the Network Connections window, click on the + icon to add a new connection.

    c. Choose the wifi connection type then create. A new window will appear. Change the connection name to zeus_hotspot

    d. In the Wi-Fi tab, enter zeus in the SSID field and choose "Hotspot" in the "Mode" field.

    e. In the General tab, check the "All users may connect to this network" box and give the connection priority a high number so that it always creates a hotspot instead of connecting to another network.

    f. In the Wi-Fi security tab, choose a security key to connect to the hotspot.

    h. Finally, to activate the hotspot, save and close the window, then click on the Wi-Fi icon in the status bar -> Create New Wi-Fi Network -> in the connection field, choose zeus_hotspot then create.

    i. To deactivate the hotspot, simply click on disconnect.

  5. Compiling ROS packages that require opencv as an include directory will return an error on a Jetson because it is not installed at the same place it usually is on other systems. To fix this, run this line:

    sudo ln -s /usr/include/opencv4/opencv2/ /usr/include/opencv

    source: https://answers.ros.org/question/199279/installation-from-source-fails-because-of-cv_bridge-include-dir/

  6. Disable the nvgetty service to avoid problems with the UART port.

    systemctl stop nvgetty
systemctl disable nvgetty

    Reboot to apply the changes

  7. Installing Zed SDK on jetson

    a. Download sdk for jetpack 4.6 (Here: https://www.stereolabs.com/developers/release/) b.

    chmod +x ./Downloads/ZED_SDK_XXX.run 
./ZED_SDK_XXX.run

  8. Add these lines to ~/.bashrc with the correct IP address

    export ROS_IP=<ip>
export ROS_MASTER_URI=http://<ip>:11311

Wiring

This is the pinout of the GPIO on a Jetson Xavier NX. Pin 1 is the one closest to the IO ports. Source: https://www.jetsonhacks.com/nvidia-jetson-xavier-nx-gpio-header-pinout/ Jetson Xavier NX GPIO pinout

IMU

IMU pin Jetson pin
VCC (3.3v) 1
GND 6
SCL/SCLK (blue) 28 (I2C Bus 1)
SDA/SDI (orange) 27 (I2C Bus 1)

Conclusion

Now that the Jetson setup is complete, go back to the page on developer setup and follow the rest of the installation instructions.