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How to Set Up Jetson Car

This README will walk through how to set up Jetson Car.

Hardware / Bill Of Materials

Base

Item Unit Price Notes
RedCat Volcano EPX Brushed 1 $139.99
NVIDIA Jetson TX2 1 $599.99 If you are a student, you can apply for EDU discount.
Teensy 3.2 1 $29.95
Logitech GamePad F710 Wireless Controller 1 $30.99
RAVPower 23000mAh Power Bank 1 $60 Used on Amazon

Sensors

Item Unit Price Notes
Intel RealSense R200 1 $109.00
Logitech C920 USB Webcam 1 $61.50 H264 encoded MJPEG
Sparkfun Razor IMU 9DoF M0 1 $49.95
UBLOX GPS NEO-6m 1 $19.99

Accessories

Item Unit Price Notes
ABS Plastic 12'' x 12'' x 0.125'' 2 $9.85 To cut the base
M3 Male Female Standoff Screw Nut Assortment Kit 2 $9.79

Software

Software Version
Stock OS for Jetson TX2 JetPack 3.0 (27.0.1)
ROS Kinetic for ARM kinetic-ros-bare
Keras 2.0.2
TensorFlow 1.0.1

Installation Steps

1. Build Custom Kernel Modules

The purpose is to allow NVIDIA Jetson detect additional image formats from Stereo Camera Intel Realsense, Teensy and IMU driver correctly.

The kernel is the code that is the base of the operating system, the interface between hardware and the application code.

A kernel module is code that can be accessed from the kernel on demand, without having to modify the kernel. These modules provide ancillary support for different types of devices and subsystems.

Follow instruction from JetsonHacks to create custom Kernel Modules for NVIDIA Jetson http://www.jetsonhacks.com/2017/03/25/build-kernel-and-modules-nvidia-jetson-tx2/

1.a. What the scripts do:

  • Download and extract Kernel Source
  • Build Kernel Source
  • Copy Kernel to /boot

1.b. What do you need to to?

  • Create a custom kernel name (e.g 4.4.0-jetson-car-1.0) in
  • Press Ctrl F to enable the following two Modules.
  • Enable USB CH341 chipset
  • Enable USB CDC ACM SUPPORT to allow detect Teensy and IMU Driver
  • Enable JOYDEV AND CONFIG_INPUT_JOYSTICK to allow Joystick deteceted

2. Install ROS Kinetic

# Make sure you are in `setup` directorty
cd ./setup

sudo ./scripts/1_installRos.sh
sudo ./scripts/2_installDependencies.sh

3. Install Realsense Library

http://www.jetsonhacks.com/2017/03/26/intel-realsense-camera-installation-nvidia-jetson-tx2/

  • Install librealsense
  • Update kernel module to detect realsense format
  • Build new Kernel Module with patched from Intelcd

4. Install Intel Realsense ROS Package

http://www.jetsonhacks.com/2017/03/29/intel-realsense-package-for-ros-on-nvidia-jetson-tx2/

5. Build catkinw_ws workspace

cd jetson-car/src/
catkin_init_make
cd ..
catkin_make