Documentation of used HWs

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Preparation of Nvidia Jetson AGX Orin

To flash the Jetson AGX Orin using the NVIDIA SDK Manager, follow these steps:

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In this documentation, optional setup flow with SDK Manager is used to enforce installation of Ubuntu 20.04 instead of Ubuntu 22.04 that comes with default setup flow.

Download and Install SDK Manager:

Download the latest SDK Manager Debian package on the host PC from the NVIDIA website. This help to use the NVIDIA SDK Manager GUI to successfully configure the Jetson development environment.

Note: there is a need to use credentials of the NVIDIA Developer account to use SDK manager.

Sources:

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https://docs.nvidia.com/sdk-manager/download-run-sdkm/index.html⁠

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https://developer.nvidia.com/sdk-manager⁠

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Launch SDK Manager and Flash L4T BSP:

Launch SDK Manager.

Connect the Jetson AGX Orin Developer Kit to your host PC using the provided USB Type-A to Type-C cable. Ensure the Type-C plug is inserted into the port next to the 40-pin connector on the Jetson device.

Sources:

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https://developer.nvidia.com/embedded/learn/jetson-agx-orin-devkit-user-guide/developer_kit_layout.html#top-view-hidden-under-the-module⁠

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Put the Jetson device into Force Recovery Mode by holding down the middle Force Recovery button while inserting the USB Type-C power supply plug. Check the hardware layout in the link listed in the sources.

SDK manager will detect Jetson AGX Orin Developer Kit. SDK version indicates which JetPack version suits the system needs.

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In the Target Components panel, select “Jetson Linux” to install the base L4T BSP and deselect “Jetson SDK Components” if you do not want to install additional SDK components at this stage.

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Follow the prompts to accept license agreements and proceed with the flashing process.

Configure and Complete the Flashing Process:

SDK Manager will prompt you to prepare your device for flashing and select the storage device (e.g., eMMC, NVMe, USB).

This documentation flash a new Jetson AGX Orin kit which is not set with username and password, thus the manual setup and follw the setps as it appear in the wizard.

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Then choose the target hardware from the listed devices.

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Complete the OEM configuration as prompted on the device then click the “Flash” button to start the flashing process. Once completed, the Jetson AGX Orin will reboot into the L4T BSP.

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Complete Installation Wizard of Ubuntu in Jetson AGX Orin Device.

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Install Additional JetPack components:

After flashing the OS, you can install additional JetPack components by running the SDK Manager again, selecting “Jetson SDK Components,” and following the installation steps.

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For more detailed instructions, refer to the official Jetson AGX Orin Developer Kit User Guide

https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit#step-1-run-through-ubuntu-setup-oem-config⁠

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Preparation of Rover Pro from Roverrobotics

Rover Robots work in both ROS1 and ROS2 drivers. This documentation is exclusively built for ROS1 and ROS wrapper (Roverrobotics_ros1) to interface with roverrobotics' robots.

ROS Noetic Installation Instructions:

Configure your Ubuntu repositories:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Set up the keys:

sudo apt install curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

Installation:

sudo apt update

sudo apt install ros-noetic-desktop-full

Environment setup:

source /opt/ros/noetic/setup.bash

It can be convenient to automatically source this script every time a new shell is launched. These commands will do that for you:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

Dependencies for building packages:

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential

sudo apt install python3-rosdep

sudo rosdep init

rosdep update

Create a ROS Workspace:

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

source devel/setup.bash

Source:

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https://wiki.ros.org/noetic/Installation⁠

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Librover Installation Instructions:

It is required in order to use the Roverrobotics_ros1 wrapper:

cd ~/

mkdir library/

cd library/

git clone https://github.com/RoverRobotics/librover

cd librover/

cmake .

make

sudo make install

Sources:

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https://github.com/RoverRobotics/roverrobotics_ros1⁠

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Roverrobotics_ros1 Wrapper Installation:

Cloning this repository into your workspace:

cd workspace/src/

git clone https://github.com/RoverRobotics/roverrobotics_ros1

Install Rover Robotics packages:

sudo apt-get install ros-noetic-twist-mux

sudo apt-get install ros-noetic-tf2-geometry-msgs

sudo apt-get install ros-noetic-robot-localization

sudo apt-get install ros-noetic-gmapping

sudo apt-get install ros-noetic-move-base

Rebuild and source your workspace:

cd workspace/

catkin_make

source devel/setup.bash

Check Serial Port Permissions and Add User to dialout Group.

Launch Robot:

roslaunch roverrobotics_driver pro.launch

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Create systemd scripts for roscore

Create a new service file for roscore in the /etc/systemd/system directory:

sudo nano /etc/systemd/system/roscore.service

Add the following content to the file:

[Unit]

Description=ROS Core

After=network.target

[Service]

Type=simple

User=capture

ExecStart=/bin/bash -c 'source /opt/ros/noetic/setup.bash && exec roscore'

Restart=on-failure

[Install]

WantedBy=multi-user.target

Reload systemd Configuration:

sudo systemctl daemon-reload

Enable and Start the Service:

sudo systemctl enable roscore.service

sudo systemctl start roscore.service

Verify the Service Status:

sudo systemctl status roscore.service

Reboot the kit.

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Preparation of XBOX Controller

Install the ROS joystick driver:

sudo apt-get install xboxdrv

sudo apt-get install ros-noetic-joy

Add yourself into input linux group:

sudo usermod -a -G input capture

Start xboxdrv in the background:

sudo xboxdrv --detach-kernel-driver --silent &

Create Systemd Service File:

sudo nano /etc/systemd/system/xboxdrv.service

Add the Following Content:

[Unit]

Description=Xbox 360 Controller Service

After=network.target

[Service]

ExecStart=/usr/bin/xboxdrv --detach-kernel-driver --silent

Restart=always

User=root

[Install]

WantedBy=multi-user.target

Reload Systemd and Enable the Service:

sudo systemctl daemon-reload

sudo systemctl enable xboxdrv

sudo systemctl start xboxdrv

Check Service Status and Verify Device Availability:

sudo systemctl status xboxdrv

ls /dev/input/js0

Test the Controller:

jstest /dev/input/js0

Placing XBOX Package in src folder in workspace. Package is edited and attached with documentation.

Rebuild and source your workspace:

cd workspace/

catkin_make

source devel/setup.bash

Launch Robot and XBOX controller:

roslaunch rr_openrover_basic pro.launch # to run rover

AND

roslaunch rr_openrover_basic xbox_controller.launch # to run xbox controller

roslaunch rr_openrover_basic teleop.launch # to run both rover and xbox controller

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Preparation of Zed Camera

Download the ZED SDK for Linux.

Source:

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https://www.stereolabs.com/developers/release⁠

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install zstd:

sudo apt install zstd

Add execution permission to the installer:

chmod +x ZED_SDK_Tegra_L4T35.4_v4.1.2.zstd.run

Run the ZED SDK installer:

./ZED_SDK_Tegra_L4T35.4_v4.1.2.zstd.run

Calibrate the camera using ./ZED_Calibration tool, which is located in the following path and follow the instructions appear:

/usr/local/zed/tools/ZED_Calibration

zed-ros-wrapper Package Installation:

Cloning this repository into your workspace:

cd workspace/src/

git clone --recursive https://github.com/stereolabs/zed-ros-wrapper.git

cd ../

rosdep install --from-paths src --ignore-src -r -y

catkin_make -DCMAKE_BUILD_TYPE=Release

source ./devel/setup.bash

Run the ZED wrapper:

roslaunch zed_wrapper zed.launch

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Preparation of Yoctupuce Sensors

Add the Yoctopuce APT Repository:

Install the GPG key of the repository:

wget -q -O - https://www.yoctopuce.com/apt/KEY.gpg | gpg --dearmor | sudo tee -a /usr/share/keyrings/yoctopuce.gpg > /dev/null

Add the repository to the list of servers used by apt-get:

echo "deb [signed-by=/usr/share/keyrings/yoctopuce.gpg] https://www.yoctopuce.com/ apt/stable/" | sudo tee /etc/apt/sources.list.d/yoctopuce.list

Source:

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https://www.yoctopuce.com/EN/virtualhub.php⁠

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Install the VirtualHub:

sudo apt-get update

sudo apt-get install virtualhub

To allow users without privileges to communicate with the Yoctopuce devices:

sudo VirtualHub --install_udev_rule

Note: YOU NEED TO REBOOT THE SYSTEM BEFORE THIS RULE IS APPLIED.

In addition, to avoid explicitly run VirtualHub each time need to run it, install it as a service. To do so, run the following command:

sudo VirtualHub -i

Configuring and testing the modules:

Connect in HTTP to port 4444 of the machine on which VirtualHub is running.

Use the http://127.0.0.1:4444 address, then the list of all the modules connected on the machine should appear.

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There is ability to configure a module by clicking on the corresponding configure button in the main interface. A window, specific to the module will be open.

Install the libgps-dev package using:

sudo apt-get install libgps-dev

Clone gps_umd package that contains messages for representing data from GPS devices and algorithms for manipulating it. (required)

Source:

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https://github.com/swri-robotics/gps_umd⁠

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Placing the yoctopuce package attached with this documentation in your workspace.

Rebuild and source your workspace:

cd workspace/

catkin_make

source devels/setup.bash

Run the launch file:

roslaunch yoctopuce Yocto_Sensors.launch

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Preparation of OpenBCI Headset

Navigate to the rules.d directory:

cd /etc/udev/rules.d

Create a new udev rule file:

sudo nano 99-usbftdi.rules

Enter the udev rule:

In the text editor, enter the following code. Replace abcd with your assigned PID.

# For FTDI FT232 & FT245 USB devices with Vendor ID = 0x0403, Product ID = 0xabc

SYSFS{idProduct}=="abcd", SYSFS{idVendor}=="0403", RUN+="/sbin/modprobe -q ftdisio product=0xabcd vendor=0x0403"

Reload udev rules:

sudo udevadm control --reload-rules

Connect your FTDI device with the customized VID/PID.

Verify driver load:

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