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jetson.md

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CaBot with Jetson configuration

CaBot is originally designed for a PC with an NVIDIA GPU (small game PC), but the GPU consumes a lot of power. So, this configuration uses NVIDIA Jetson, trying to reduce power usage.

Hardware

  • NUC (Ruby R8) + Jetson Xavier AGX
  • NUC (Ruby R8) + Jetson Mate (1~4 Jetson Xavier NX)

Network

  • all Jetson should be configured in the same local network

Jetson Mate storage

  • Jetson Mate does not provide external storage, so the system can only use 16GB RAM on Jetson Xavier NX
    • To save disk usage, need to install minimum requirements carefully. Jetson setup scripts are provided to install them automatically.

Jestson setup scripts

TBD

Build Docker images

  • Install docker arm emulator if you build l4t (jetson) image on x86_64 machine 
    ./install-arm-emulator.sh
  • build image 
    ./prebuild-docker.sh l4t && ./build-docker.sh l4t
  • build production images for jetson to eliminate all build steps, including building workspace 
    ./build-production-image.sh

Launch people service on jetson

  • see jetson-launch.sh -h for details