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Jetson TK1

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tanyax edited this page Jun 20, 2017 · 9 revisions

Jetson TK1:

  1. Follow directions in pamphlet for Force Recovery Mode. Download to host Linux machine (follow detailed step-by-step)

  2. After all that, hook up the display, keyboard, mouse and boot up the OS .

  3. Enable USB 3.0

  4. Connect ethernet (see Note 4). Go to System Settings/Software & Updates and check all the repos (e.g. universe, multiverse, etc.)

  5. Install Grinch kernel

  6. Set up auto-complete for command-line: see Note 1

  7. Install CUDA (cuda-toolkit-7-0) and just download the .deb linked to "Toolkit for L4T" (don't need to follow link/download Jetpack)

  8. Install OpenCV (public version in case we want to use SURF/SIFT in future and for updates): see Note 2

  9. Install ROS Indigo

  10. Set up ROS environment: see Note 3

Notes

Note 1

sudo apt-get install bash-completion command-not-found
sudo apt-file update &>/dev/null
sudo update-command-not-found &>/dev/null
exit

wget https://github.com/opencv/opencv/archive/3.1.0.zip
unzip opencv-3.1.0.zip
mv opencv-3.1.0 ~/

cd ~/opencv-3.1.0
mkdir build
cd build
cmake -DWITH_CUDA=ON -DCUDA_ARCH_BIN="3.2" -DCUDA_ARCH_PTX="" -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF ..

make -j4

sudo make install

echo "# Use OpenCV and other custom-built libraries." >> ~/.bashrc
echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/" >> ~/.bashrc
source ~/.bashrc
sudo ldconfig

While testing examples, GPU examples did not work: "cannot find -lopencv_{contrib,gpu,legacy}" SOLVE LATER

Note 2

Discussion on OpenCV version specifically for Jetson TK1: http://www.jetsonhacks.com/2015/06/14/ros-opencv-and-opencv4tegra-on-the-nvidia-jetson-tk1/

# Some general development libraries
sudo apt-get -y install build-essential make cmake cmake-curses-gui g++
# libav video input/output development libraries
sudo apt-get -y install libavformat-dev libavutil-dev libswscale-dev
# Video4Linux camera development libraries
sudo apt-get -y install libv4l-dev
# Eigen3 math development libraries
sudo apt-get -y install libeigen3-dev
# OpenGL development libraries (to allow creating graphical windows)
sudo apt-get -y install libglew1.6-dev
# GTK development libraries (to allow creating graphical windows)
sudo apt-get -y install libgtk2.0-dev

Note 3

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash

Note 4

When outside of B14, you can provide internet access via shared internet in OS X (https://galem.wordpress.com/2014/10/14/configuring-the-raspberry-pi-to-share-a-macs-internet-connection/) or via Linux host machines (http://elinux.org/Jetson/Remote_Access#Not-as-easy_method:_Internet_Connection_Sharing_with_NetworkManager)

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