Computer Configuration

Onboard Computer - Jetson AGX Xavier

A. Install the Auto Power On Jumper

Part	Quantity	Image
`Nvidia Jetson AGX Xavier`	1
`Jumper`	1

Steps

Install the jumper as shown in the following picture.

B. Install the SSD

Required Parts

Part	Quantity	Image
`Nvidia Jetson AGX Xavier`	1
`SSD`	1

Steps

Remove the following screws.

Remove the bottom PCB.
Install the SSD, as shown in the following picture.

C. Remove dV/dt protection feature

Required Parts

Part	Quantity	Image
`Nvidia Jetson AGX Xavier`	1

Steps

Remove R135 (see P2822_B03_PCB_assembly_drawing.pdf).
Replace the bottom PCB.
Install the following screws.

D. Install the WiFi Card

Required Parts

Part	Quantity	Image
`Nvidia Jetson AGX Xavier`	1
`WiFi Card`	1

Steps

Install the WiFi card into the Nvidia Jetson AGX Xavier.

Onboard Computer - Jetson AGX Orin

A. Install the SSD

Required Parts

Part	Quantity	Image
`Nvidia Jetson AGX Orin`	1
`SSD`	1

Steps

Install the SSD, as shown in the following picture.

Onboard Computer - Common Software Setup

A. Install JetPack 5.1.1

Install JetPack 5.1.1 onto the computer SSD using the instructions from Nvidia

B. Connect the screen

Required Parts

Part	Quantity	Image
`HDMI Cable`	1
`Touchscreen`	1

Steps

Connect the screen to the Jetson using the HDMI cable.
Turn on the touchscreen as shown in the following picture.

C. Rotate the display

Open "Settings"
Navigate to the "Display" tab
Set the orientation to 'Portrait Left" a shown below

Select "Keep changes" when prompted

D. Run the setup script

Execute the following bash command on the robot.

wget -q -O - https://raw.githubusercontent.com/introlab/t-top/main/tools/setup_scripts/jetson_configuration.sh | bash

Alternate way: manual setup

D. Update the robot

Execute the following bash commands on the robot.

sudo apt update
sudo apt upgrade -y
sudo apt autoremove -y

E. Clone the repository

Execute the following bash commands on the robot to clone the T-Top repository.

mkdir -p ~/t-top_ws/src
cd ~/t-top_ws/src

git clone --recurse-submodules https://github.com/introlab/t-top.git

F. Configure the Jetson power mode

For the Jetson AGX Xavier, execute the following bash command on the robot.

sudo nvpmodel -m 0

For the Jetson AGX Orin, execute the following bash commands on the robot.

sudo cp /etc/nvpmodel.conf /etc/nvpmodel/nvpmodel.conf.backup
sudo cp ~/t-top_ws/src/t-top/tools/setup_scripts/files/jetson_orin_nvpmodel.conf /etc/nvpmodel.conf

sudo nvpmodel -m 1 &> /dev/null
sudo nvpmodel -m 0

G. System configuration

Disable the sudo password requirement for shutdown and nvpmodel by executing the following bash command on the robot.

sudo cp ~/t-top_ws/src/t-top/tools/setup_scripts/files/sudoers_ttop /etc/sudoers.d/ttop

Copy 99-teensy.rules in /etc/udev/rules.d/.

sudo cp ~/t-top_ws/src/t-top/tools/udev_rules/99-teensy.rules /etc/udev/rules.d/

Copy 99-camera-2d-wide.rules in /etc/udev/rules.d/.

sudo cp ~/t-top_ws/src/t-top/tools/udev_rules/99-camera-2d-wide.rules /etc/udev/rules.d/

Add the user to the dialout group by executing the following bash command on the robot.

sudo usermod -a -G dialout $USER

Setup autologin in the settings menu.
Disable automatic sleep and screen lock by executing the following bash commands on the robot.

gsettings set org.gnome.desktop.screensaver ubuntu-lock-on-suspend 'false'
gsettings set org.gnome.desktop.screensaver lock-delay 0
gsettings set org.gnome.desktop.session idle-delay 0

Add Option "CalibrationMatrix" "0 1 0 -1 0 1 0 0 1" before EndSection in the following section of /usr/share/X11/xorg.conf.d/40-libinput.conf.

Section "InputClass"
        Identifier "libinput touchscreen catchall"
        MatchIsTouchscreen "on"
        MatchDevicePath "/dev/input/event*"
        Driver "libinput"
EndSection

H. Install NPM

Execute the following bash commands.

sudo apt install -y curl software-properties-common
curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash -
sudo apt install -y nodejs

I. Install Tools

Execute the following bash commands.

sudo apt install -y htop python3-pip perl
sudo -H pip3 install -U jetson-stats

# Update CMake
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
sudo apt update
sudo apt install -y cmake

J. Install Librealsense 2

Execute the following bash commands.

mkdir ~/deps
cd ~/deps

git clone https://github.com/jetsonhacks/buildLibrealsense2Xavier.git
cd buildLibrealsense2Xavier

Change the version to v2.50.0 in installLibrealsense.sh.
Add the folowing arguments to the cmake command in installLibrealsense.sh.

-DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"

Execute the following bash commands.

# Cannot be installed to build librealsense
sudo apt autoremove -y libapriltag-dev
./installLibrealsense.sh
sudo apt install -y libapriltag-dev

K. Install ROS

Execute the following bash commands.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update

sudo apt install -y \
    python3-rosdep \
    python3-rosinstall-generator \
    python3-vcstool \
    build-essential \
    libboost-all-dev \
    libpoco-dev \
    python3-empy \
    libtinyxml-dev \
    libtinyxml2-dev \
    qt5-default \
    sip-dev \
    python3-sip \
    python3-sip-dbg \
    python3-sip-dev \
    python3-pyqt5 \
    python3-nose \
    python3-twisted \
    python3-serial \
    python3-autobahn \
    python3-tornado \
    python3-bson \
    python3-qt-binding \
    libcurl4-gnutls-dev \
    libgtest-dev \
    liblz4-dev \
    libfltk1.1-dev \
    liburdfdom-headers-dev \
    liburdfdom-dev \
    liburdfdom-tools \
    libgpgme-dev \
    libyaml-cpp-dev \
    libpcl-dev \
    libgtk-3-dev \
    libassimp-dev \
    libogre-1.9-dev \
    libconfig-dev \
    liblog4cplus-dev \
    alsa-utils \
    liblog4cpp5-dev \
    liblog4cxx-dev \
    libbz2-dev \
    libbullet-dev \
    libsdl1.2-dev \
    libsdl-image1.2-dev \
    libapriltag-dev \
    libdc1394-22-dev

# Install system dependencies
cd ~/deps
git clone https://github.com/ros/console_bridge.git
cd console_bridge
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build .
sudo cmake --install .

cd ~/deps
git clone https://github.com/ethz-asl/libnabo.git
cd libnabo
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build .
sudo cmake --install .

cd ~/deps
git clone https://github.com/ethz-asl/libpointmatcher.git
cd libpointmatcher
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build .
sudo cmake --install .

cd ~/deps
git clone -b 0.21.1-noetic https://github.com/introlab/rtabmap.git
cd rtabmap/build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build . -j4
sudo cmake --install .

# Install ROS
sudo rosdep init
rosdep update

mkdir -p ~/ros_catkin_ws/src
cd ~/ros_catkin_ws

rosinstall_generator desktop_full --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
vcs import --input noetic-desktop.rosinstall ./src
rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y

# Remove useless packages
rm -rf ~/ros_catkin_ws/src/gazebo_ros_pkgs/

# Add ROS packages
cd ~/ros_catkin_ws/src
git clone -b 1.0.1 https://github.com/GT-RAIL/rosauth.git
git clone -b noetic-devel https://github.com/ros-drivers/rosserial.git
git clone -b ros1 https://github.com/RobotWebTools/rosbridge_suite.git
git clone -b noetic https://github.com/ccny-ros-pkg/imu_tools.git
git clone --recursive https://github.com/orocos/orocos_kinematics_dynamics.git

git clone -b 0.21.1-noetic https://github.com/introlab/rtabmap_ros.git
git clone -b noetic-devel https://github.com/ros-planning/navigation.git

git clone -b kinetic-devel https://github.com/pal-robotics/ddynamic_reconfigure.git
git clone -b 2.3.2 https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/OTL/cv_camera.git
git clone -b 0.6.4-noetic https://github.com/introlab/find-object.git

# Replace not complete packages
rm -rf geometry2 navigation_msgs vision_opencv image_common perception_pcl pcl_msgs image_transport_plugins

git clone -b noetic-devel https://github.com/ros/geometry2.git
git clone -b ros1 https://github.com/ros-planning/navigation_msgs.git
git clone -b noetic https://github.com/ros-perception/vision_opencv.git
git clone -b noetic-devel https://github.com/ros-perception/image_common.git

git clone -b 1.7.1 https://github.com/ros-perception/perception_pcl.git
git clone -b noetic-devel https://github.com/ros-perception/pcl_msgs.git
git clone -b noetic-devel https://github.com/ros-perception/image_transport_plugins.git


cd ~/ros_catkin_ws
rosdep install --from-paths ./src/image_transport_plugins --ignore-packages-from-source --rosdistro noetic -y
# Can not be installed for the build, as CMake will pick it instead of the system 3.8
sudo apt autoremove -y python3.9

catkin config --init --install --space-suffix _isolated --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_ENABLE_TESTING=0 -Wno-dev
catkin build

# Add ROS setup to .bashrc
echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc

L. Install System Dependencies

Execute the following bash commands.

sudo apt install -y \
    libasound2-dev \
    libpulse-dev \
    libconfig-dev \
    alsa-utils \
    gfortran \
    libgfortran-*-dev \
    texinfo \
    libfftw3-dev \
    libsqlite3-dev \
    portaudio19-dev \
    python3-all-dev \
    libgecode-dev \
    qt5-default \
    v4l-utils \
    libopenblas-dev \
    libpython3-dev \
    ffmpeg \
    chromium-browser \
    libqt5websockets5-dev \
    libqt5charts5-dev \
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    libgstreamer-plugins-good1.0-dev \
    libgstreamer-plugins-bad1.0-dev \
    gstreamer1.0-plugins-base \
    gstreamer1.0-plugins-good \
    gstreamer1.0-plugins-bad \
    gstreamer1.0-plugins-ugly \
    gstreamer1.0-libav \
    gstreamer1.0-tools \
    libspdlog-dev \
    scons

# Install onnxruntime
cd ~/deps
git clone https://github.com/microsoft/onnxruntime.git -b v1.14.1 --recurse-submodules
cd onnxruntime
./build.sh --config Release --update --build --parallel --build_wheel --build_shared_lib --use_tensorrt --cuda_home /usr/local/cuda --cudnn_home /usr/lib/aarch64-linux-gnu --tensorrt_home /usr/lib/aarch64-linux-gnu
cd build/Linux/Release
sudo make install

# Install ComputeLibrary
cd ~/deps
git clone --depth 1 -b v22.11 https://github.com/ARM-software/ComputeLibrary.git
cd ComputeLibrary
scons Werror=1 -j8 debug=0 neon=1 opencl=0 os=linux arch=armv8a build=native
mv build lib

# Install onDNN
cd ~/deps
git clone --depth 1 -b v3.2.1 https://github.com/oneapi-src/oneDNN.git
cd oneDNN
mkdir build
cd build
export ACL_ROOT_DIR=~/deps/ComputeLibrary
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math -DDNNL_AARCH64_USE_ACL=ON"
cmake --build . -j4
sudo cmake --install .

M. Install Python Dependencies

Execute the following bash commands.

# Install general dependencies
sudo apt install -y \
    'libprotobuf*' \
    protobuf-compiler \
    ninja-build \
    python3-numpy \
    python3-scipy \
    python3-numba \
    python3-matplotlib \
    python3-sklearn \
    python3-tqdm \
    python3-audioread \
    python3-requests \
    python3-sphinx

sudo -H pip3 install 'cython>=0.29.22,<0.30.0'
sudo -H pip3 install -r ~/t-top_ws/src/t-top/tools/setup_scripts/files/requirements.txt

#Install CTranslate2
cd ~/deps
git clone --depth 1 -b v3.20.0 https://github.com/OpenNMT/CTranslate2.git --recurse-submodule
cd CTranslate2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DWITH_MKL=OFF -DWITH_CUDA=ON -DWITH_CUDNN=ON -DWITH_OPENBLAS=ON -DWITH_DNNL=ON -DWITH_RUY=ON
cmake --build . -j4
sudo cmake --install .
sudo ldconfig
cd ../python
sudo -H pip3 install -r install_requirements.txt
python3 setup.py bdist_wheel
sudo -H pip3 install dist/*.whl --no-deps --force-reinstall

# Install PyTorch for Jetson
cd ~/deps
wget https://developer.download.nvidia.com/compute/redist/jp/v50/pytorch/torch-1.12.0a0+2c916ef.nv22.3-cp38-cp38-linux_aarch64.whl
sudo -H pip3 install torch-1.12.0a0+2c916ef.nv22.3-cp38-cp38-linux_aarch64.whl

cd ~/deps
git clone --depth 1 -b v0.13.0 https://github.com/pytorch/vision.git
cd vision
mkdir -p build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DCMAKE_PREFIX_PATH=`python3 -c 'import torch;print(torch.utils.cmake_prefix_path)'` -DWITH_CUDA=ON
cmake --build . -j4
sudo cmake --install .
cd ~/deps/vision
sudo -H python3 setup.py install

cd ~/deps
git clone --depth 1 -b v0.12.0 https://github.com/pytorch/audio.git --recurse-submodule
cd audio
sudo bash -c 'echo "export PATH=/usr/local/cuda-11.4/bin:\$PATH" >> /root/.bashrc'
sudo bash -c 'sudo echo "export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:\$LD_LIBRARY_PATH" >> /root/.bashrc'
sudo -H pip3 install -r requirements.txt
sudo -H bash -c 'TORCH_CUDA_ARCH_LIST="7.2;8.7" CUDACXX=/usr/local/cuda/bin/nvcc python3 setup.py install'

cd ~/deps
git clone https://github.com/NVIDIA-AI-IOT/torch2trt
cd torch2trt
sudo -H python3 setup.py install --plugins

N. Install the T-Top hardware daemon and system tray

Build and install the daemon:

cd ~/t-top_ws/src/t-top/system/daemon
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build .
sudo cmake --install .

Build and install the system tray:

cd ~/t-top_ws/src/t-top/system/system_tray
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math"
cmake --build .
sudo cmake --install .

Enable the deamon service:

sudo systemctl enable ttop_hardware_daemon.service
sudo systemctl start ttop_hardware_daemon.service

O. Build the Repository

Execute the following bash commands.

cd ~/t-top_ws

# Default development profile, using Debug
catkin config --init --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_WARN_DEPRECATED=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
# Release profile, build with 'catkin build --profile release'
catkin config --profile release --init --space-suffix _release --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_WARN_DEPRECATED=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

catkin build

Development Computer (Ubuntu 20.04)

A. OpenCR Dev Rule

Copy 99-opencr-custom.rules in /etc/udev/rules.d/.
Copy 99-teensy.rules in /etc/udev/rules.d/.
Copy 99-camera-2d-wide.rules in /etc/udev/rules.d/.
Add the user to the dialout group.

sudo usermod -a -G dialout $USER

B. Install NPM

Execute the following bash commands.

sudo apt install -y curl software-properties-common
curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash -
sudo apt install -y nodejs

C. Install ROS

Execute the following bash commands.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update

sudo apt install -y ros-noetic-desktop-full
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo rosdep init
rosdep update
sudo apt install -y \
    python3-rosinstall \
    python3-rosinstall-generator \
    python3-wstool \
    build-essential \
    ros-noetic-rosserial-python \
    ros-noetic-rosbridge-suite \
    ros-noetic-ddynamic-reconfigure \
    ros-noetic-imu-filter-madgwick \
    ros-noetic-cv-bridge \
    ros-noetic-rtabmap-ros \
    ros-noetic-cv-camera

D. Install System Dependencies

Execute the following bash commands.

sudo apt install -y libasound2-dev \
    libpulse-dev \
    libconfig-dev \
    alsa-utils \
    gfortran \
    'libgfortran-*-dev' \
    texinfo \
    libfftw3-dev \
    libsqlite3-dev \
    portaudio19-dev \
    python3-all-dev \
    libgecode-dev \
    qt5-default \
    v4l-utils

E. Install Python Dependencies

Execute the following bash commands.

sudo apt install -y 'libprotobuf*' protobuf-compiler ninja-build python3-pip python3-sklearn
sudo -H pip3 install numpy scipy matplotlib torch==1.11.0 torchvision==0.12.0 torchaudio==0.11.0 google-cloud-texttospeech google-cloud-speech libconf tqdm pyside2 sounddevice librosa requests ipinfo
sudo -H pip3 install 'git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI'

F. Install CUDA Tools (Optional)

Install TensorRT.
Install torch2trt.

cd ~/deps
git clone https://github.com/NVIDIA-AI-IOT/torch2trt
cd torch2trt
sudo python3 setup.py install --plugins

G. Clone the Repository

Execute the following bash commands.

mkdir ~/t-top_ws
cd ~/t-top_ws
mkdir src
catkin_make

cd src
git clone --recurse-submodules git@github.com:introlab/t-top.git

H. Install the RealSense Packages

Install Librealsense (use the tag v2.50.0).
Install ROS node in ~/t-top_ws/src (use the tag 2.3.2)

All computer

A. Setup Google Cloud

Create a service account JSON keyfile for Google Cloud Text-to-Speech and Google Cloud Speech-to-Text.
Add the following line to ~/.bashrc

export GOOGLE_APPLICATION_CREDENTIALS="[Path to the service account JSON keyfile]"

B. Setup OpenWeatherMap

Create an OpenWeatherMap API Key.
Add the following line to ~/.bashrc

export OPEN_WEATHER_MAP_API_KEY="[The key]"

C. Setup a Different ROS2 Domain on Each Robot

Add the following line to ~/.bashrc

# Avoid default=0 and make sure each robot has a different domain ID.
export ROS_DOMAIN_ID=[1...101]

Files

01_COMPUTER_CONFIGURATION.md

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01_COMPUTER_CONFIGURATION.md

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Computer Configuration

Onboard Computer - Jetson AGX Xavier

A. Install the Auto Power On Jumper

Steps

B. Install the SSD

Required Parts

Steps

C. Remove dV/dt protection feature

Required Parts

Steps

D. Install the WiFi Card

Required Parts

Steps

Onboard Computer - Jetson AGX Orin

A. Install the SSD

Required Parts

Steps

Onboard Computer - Common Software Setup

A. Install JetPack 5.1.1

B. Connect the screen

Required Parts

Steps

C. Rotate the display

D. Run the setup script

Alternate way: manual setup

D. Update the robot

E. Clone the repository

F. Configure the Jetson power mode

G. System configuration

H. Install NPM

I. Install Tools

J. Install Librealsense 2

K. Install ROS

L. Install System Dependencies

M. Install Python Dependencies

N. Install the T-Top hardware daemon and system tray

O. Build the Repository

Development Computer (Ubuntu 20.04)

A. OpenCR Dev Rule

B. Install NPM

C. Install ROS

D. Install System Dependencies

E. Install Python Dependencies

F. Install CUDA Tools (Optional)

G. Clone the Repository

H. Install the RealSense Packages

All computer

A. Setup Google Cloud

B. Setup OpenWeatherMap

C. Setup a Different ROS2 Domain on Each Robot