HSRW EOLab Wiki

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====== NVIDIA Jetson Nano Setup ======

===== Setup Headless Jetson with GUI Client =====

==== Harley's Tutorial for different client side DMs ====

We use **X2Go**.

[[https://teawiki.net/doku.php?id=workshops:nvidia_jetson:xavier_nx:start]]

==== Changing Runlevel ====

Change the Jetson runlevel to non-GUI to switch off the gnome display manager (or other DM) to free memory.

Instead enable graphical login with [[https://wiki.x2go.org/doku.php/start|X2Go]]. 

<code>
# Temporary
sudo systemctl isolate multi-user.target

# Permanent
sudo systemctl set-default multi-user.target
</code>

===== ROS Setup =====

==== Use Docker Containers ====

  * NVIDIA Forum on [[https://forums.developer.nvidia.com/t/ros2-on-jetson-nano/174815|ROS2 on Jetson Nano]]

https://nvidia-ai-iot.github.io/ros2_jetson/ros2-jetson-dockers/

https://github.com/dusty-nv/jetson-containers#ros-containers

<code>
git clone https://github.com/dusty-nv/jetson-containers
cd jetson-containers
</code>

<code>
./scripts/l4t_version.sh 

# Result:
# ARCH:  aarch64
# reading L4T version from /etc/nv_tegra_release
# L4T BSP Version:  L4T R32.7.3
</code>

**Can't find docker image for L4T 32.7.2**

https://github.com/dusty-nv/jetson-containers/issues/177

==== Misc ====

Harley's tutorial for [[https://teawiki.net/doku.php?id=workshops:nvidia_jetson:xavier_nx:ros_setup|setting up ROS]] on NVIDIA Jetson **Xavier NX**. It is not applicable to Jetson Nano because binaries are not provided in the repos.

===== UPDATE: Let us build the software from scratch! =====

Harley suggests to use https://docs.ros.org/en/eloquent/Installation/Linux-Development-Setup.html