¶ AUV Environement Installation (PRODUCTION)
Here is a quick guide on how to install production environment on both AUV7 and AUV8
This page needs to be update 2022-03-20
¶ Common Installation
Since we are using the Nvidia Jetson Xavier AGX on both AUV plateform, both operating system environment can be install using the Jetpack SDK provided by Nvidia.
Installation script can be obtain here Jetpack SDK
¶ Xavier Settings
To optimize the performance, mostly to turn on the fans and change the power profile, refer to this page.
¶ AUV-7 Installation
After you have completed your fresh installation of ubuntu with Jetpack installer you must open a terminal and then
you must download the installation script using the following command :
cd ~ && wget https://gist.githubusercontent.com/sonia-auv-master/7572a074f581f522be8697209bfe920a/raw/b2d2da459f3556e44403724ec70f1fa44a350e0f/sonia-install.sh && chmod +x sonia-install.sh
Then to install the AUV development environnement you must run the following command:
./sonia-install.sh -e auv7
Upon executing the script you must follow through the instruction provided by the script
See video at the bottom for a detail install walkthrough
¶ AUV-8 Installation
After you have completed your fresh installation of ubuntu with Jetpack installer you must open a terminal and then
you must download the installation script using the following command :
cd ~ && wget https://gist.githubusercontent.com/sonia-auv-master/7572a074f581f522be8697209bfe920a/raw/b2d2da459f3556e44403724ec70f1fa44a350e0f/sonia-install.sh && chmod +x sonia-install.sh
Then to install the AUV development environnement you must run the following command:
./sonia-install.sh -e auv8
Upon executing the script you must follow through the instruction provided by the script
See video at the bottom for a detail install walkthrough
¶ Jetson Utilities
Upon installation completion you will have an extended version of htop installed which is called jtop this version add up GPU support and many more functions for the Jetson Xavier AGX
The original repository can be found at Jetson Utils
The following command can be used to display information on the jetson:
sudo jtop
The jetson_config command can be used to setup jetson clock and jetson fan speed to automatically be activated 60 seconds after bootup using the jetson_clocks service
This menu can be access by using the following command:
jetson_config
¶ udev-rules
to allow some node to detect the usb devices, We can link the usb devices to a certain name.
First, deplug-replug your usb device and type in the terminal:
sudo dmesg
then you want to find the productId, vendorId and serial number of your device.
After that, go to /etc/udev/rules.d/ and edit the file 99-sonia-usb.rule (if the file dosen't exist, create it.).
Add a new line to the file with the following information:
ACTION=="add", SUBSYSTEMS=="usb", ATTRS{idVendor}==<vendorId>, ATTRS{idProduct}==<productId>, ATTRS{serial}==<serial>, SYMLINK+=<device-name>
Then reboot the computer.
¶ Start Xavier fan on launch
To start the Xavier fan on launch, create a file rc.local in /etc folder if it does not already exist and paste this :
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
/usr/bin/jetson_clocks --fan
exit 0
This will start the fan with maximum power on start.
¶ Camera USB buffer size
The Flir Chameleon USB cameras need to have a buffer of 1000 MB and the default size in the Xavier 16 MB.
This will generate an error when lauching provider-vision.
To change the value, modify the /etc/rc.local file (if the file does not exist, read Start Xavier fan on launch section) to add this line before exit 0 :
echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb
You'll need to reboot after this modification.
You can check the buffer value with this command :
cat /sys/module/usbcore/parameters/usbfs_memory_mb
If this did not work you can do this command at every restart (not recommended) :
sudo sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'
To have more information on this issue, you can read the recommandations of Flir here
¶ Docker Data Location
After installing docker, you will want to store the images outside of the root folder since a few images and containers can go up to 5 gb. To complete this guide, you will need to make sure that the ssd is mounted on the Xavier and create a folder "docker-image".
You can follow this guide (just the last advice in daemon.json) : Change image location
The command to add is this :
--data-root="/home/sonia/ssd/docker-image"
To have the disk in home/sonia location, follow the steps in this tutorial : https://www.jetsonhacks.com/2018/10/18/install-nvme-ssd-on-nvidia-jetson-agx-developer-kit/ (don't forget to unmount the disk before).
¶ Docker-compose
To install docker-compose you first need pip3:
sudo apt-get update -y
sudo apt-get install python3-pip
pip3 install docker-compose
¶ Videos
¶ Jetson Xavier AGX (OS Installation)
Here is a little video of the describing the Jetson Xavier AGX OS installation:
¶ Jetson Xavier AGX (OS Kernel Reflash)
Here is a little video of the required manipulations to reflash the OS kernel to replace the default usb buffer size value:
¶ SONIA-AUV Environment (Scripted Installation)
Here are a little videos of the scripted installation to install our AUV environment for (dev, auv7, auv8)