Installation Guide

This guide will help you set up the project on your system.

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My Setup

Powerful computer

• 5950X CPU
• RTX 3080 GPU
• Ubuntu 22.04

NVidia Jetson

• Jetson Orin Nano Developer Kit with JetPack 6.1
• Ubuntu 22.04

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Powerful Computer for Machine Learning

ROS 2 Humble

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

And make sure that you have the common extensions by:

sudo apt install python3-colcon-common-extensions

librealsense2

Follow the documentation at:

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

realsense2_camera ROS 2 package

sudo apt install ros-humble-realsense2-camera

rplidar ROS 2 package

sudo apt install ros-humble-rplidar

teleop_twist_joy package

sudo apt install ros-humble-teleop_twist_joy

requirements.txt

These are selective things to install that are required, but you might already have. You may pick any of the items and run a

pip install <module>

Install CUDA Toolkit

Install using the official documentation:

https://developer.nvidia.com/cuda-downloads

These were my options: * Operating System: Linux

• Architecture: x86_64

• Distribution: Ubuntu 20.04

• Version: Latest (e.g., CUDA 12.0)

Add CUDA paths

echo 'export PATH=/usr/local/cuda/bin:$PATH' >> ~/.bashrc
echo 'export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH' >> ~/.bashrc
source ~/.bashrc

Verify installation

nvcc --version

Install cuDNN

https://developer.nvidia.com/cudnn

Verify your options.

Installing Tensorflow

The highest JetPack 6.1 will allow is tensorflow 2.18. It's recommended to keep the same version on both computers. The requirements.txt file found within the root of the workspace includes tensorflow and other needed installs.

Install python virtual environment

sudo apt install -y python3-venv

Create the virtual environment

mkdir ~/tf_env
cd ~/tf_env
python3 -m venv tf-gpu

Sourcing Tensorflow with virtual environment

If you have a virtual environment creates, then either add

source ~/tf_env/tf-gpu/bin/activate

to your ~/.bashrc file or source it when spawning a new terminal.

Verify TensorFlow and GPU support

python -c "import tensorflow as tf; print(tf.config.list_physical_devices('GPU'))"

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NVidia Jetson

FLASHING JETPACK

TODO

ROS2 and librealsense2 Setup

This should follow the same procedure for the powerful computer above.

Building the Workspace

This should follow the same procedure for the powerful computer above.

Installing Tensorflow

https://docs.nvidia.com/deeplearning/frameworks/install-tf-jetson-platform/index.html

Tensorflow 2.18

This is the most up to date version for Jetpack 6.1.

sudo pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v61 tensorflow==2.16.1+nv24.08

You might need to downgrade your numpy.

Test Tensorflow

To test, run the following for GPU support:

python3 -c "import tensorflow as tf; print(tf.config.list_physical_devices())"

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Sourcing the workspace

To automatically source your workspace setup each time you open a terminal, add the following lines to your ~/.bashrc file:

source ~/jeteja_ws/install/setup.bash

and if you did not when installing ros2 humble, source it by

source /opt/ros/humble/install/setup.bash

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