installRACECARJ
January, 2018
Scripts in this repository will install ROS and the MIT RACECAR packages on a NVIDIA Jetson Development Kit.
This version is for L4T 28.1 The scripts assume that the Jetson has been freshly flashed with L4T 28.1 using JetPack 3.1. JetPack must also install:
- CUDA 8.0
- cuDNN 6.0
- OpenCV4Tegra 2.4.13
Note that this repository is currently under heavy development, and is subject to change soon.
MIT RACECAR Configuration Installation
The MIT RACECAR supported here is version 2.5. The hardware configuration includes a Stereolabs ZED camera, Hokuyo UST-10LX scanning range finder, and SparkFun SEN-14001 IMU.
The file installMITRACECAR.sh will install the full ROS stack and MIT RACECAR software. Before running installMITRACECAR.sh, the Stereolabs ZED camera driver must be installed (see scripts below). The ZED camera driver is available at: https://www.stereolabs.com/developers/ in the archive section.
The installation script:
$ ./installMITRACECAR.sh racecar-ws
Does the following:
- L4T 28.1 does not have a cdc-acm driver. The script installs a pre-built cdc-acm driver. The driver expects a stock kernel (4.4.38-tegra)
- Because the electronic speed controller and the IMU both report as ttyACM, a udev rule is installed which names them as vesc and imu respectively.
- ROS is configured and rosbase is installed
- One of the dependencies is missing in the package specifications, so ros-kinetic-opencv3 is installed.
- The MIT RACECAR packages are installed, which includes the ZED v2.2.x ROS wrapper.
Stereolabs ZED Drivers
Scripts are provided to install version 2.2.1 of the Stereolabs ZED drivers. These drivers match the JetPack 3.1/L4T 28.1 software with CUDA 8.0. The scripts are in the JetsonTX1 and JetsonTX2 repositories. Select the appropriate script for your machine, e.g. installZED-SDK-TX2.sh for the Jetson TX2. Usage (for example):$ ./installZED-SDK-TX2.sh
The ZED installer will be placed in the home directory, ~/ZED
Next, the ZED installer will install the ZED driver software.
Note that the driver installer is in ~/ZED, not the ZED driver itself.
Helper Scripts
Included in the full software installs, provided here for convenience.installROS.sh
Adds the ROS sources list, sets the keys and then loads ros-kinetic-ros-base. Edit this file to add other ROS packages for your installation. After loading, rosdep is initialized.setupCatkinWorkspace.sh
Usage:$ ./setupCatkinWorkspace.sh [optionalWorkspaceName]
where optionalWorkspaceName is the name of the workspace to be used. The default workspace name is catkin_ws. Included in the full software installs, provided here for convenience.
Note
The ROS environment variables ROS_MASTER_URI and ROS_IP are initialized in the file ~/.bashrc
You will need to modify these environment variables to match your needs and network layout.
Release Notes
January 2018 Initial Release
- L4T 28.1 (JetPack 3.1)
- CUDA 8.0
- cuDNN 6.0.12
- OpenCV4Tegra 2.4.13
License
MIT License
Copyright (c) 2017 Jetsonhacks
Copyright (c) 2018 Kangalow LLC
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.