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## Nvidia Jetson Ubuntu Image


This directory contains scripts and configurations to rebuild the Nvidia Jetson Image [0] for our minibot. It is based on work of pythops [1].

- [x] Build a Base Jetson Nano Ubuntu 20.04 image. This is based on https://github.com/pythops/jetson-nano-image/
- [x] ROS Noetic from the Ubuntu Repos
- [x] Nvidia, Intel Drivers from Manufacturer and/or Ubuntu Repos
- [x] Clone this repo for the Hardware Drivers and ROS Packages (Sphero RVR, Lynxmotion Arm, Intel Realsense)
- [ ] Include Vision Part of LeoBot (https://git.uibk.ac.at/RoboCupTeamTyrolics/robocupatwork)
- [ ] Test Yolo Nano  https://arxiv.org/abs/2107.08430 ("0.91M parameters and 1.08G FLOPs, we get 25.3% AP on COCO")

**Note:** This image is "minimal" and has no GUI interface. You need to connect via ssh - or at a later stage maybe via a webbrowser.


### Build Instruction 

Exports: 

```
export JETSON_NANO_BOARD=jetson-nano-2gb
export JETSON_BUILD_DIR=/mnt/EXT/jetson_nano
export JETSON_ROOTFS_DIR=/mnt/EXT/jetson-rootdir
```

#### Prepare the root file-system

```
sudo -E ./create-rootfs.sh 
```

#### Use ansible to install apropriate files and configurations

```
cd ansible
sudo -E $(which ansible-playbook) jetson.yaml
cd ..
```

##### Create the sd card image and flash

```
sudo -E ./create-image.sh
# flash image with 
sudo ./flash-image.sh /path/to/jetson.img /dev/mmcblk0
# or with balena and resize manually 
balena-etcher-electron
# resize disk
sudo gprated
sudo e2fsck -f /dev/mmcblk0
sudo resize2fs -f /dev/mmblck0 
```

#### More information on the Ubuntu Jetson Nano Base image

- [0] https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/updating_jetson_and_host.html
- [1] https://github.com/pythops/jetson-nano-image/ (supported boards)
- [Jetson nano](https://developer.nvidia.com/embedded/jetson-nano-developer-kit)
- [Jetson nano 2GB](https://developer.nvidia.com/embedded/jetson-nano-2gb-developer-kit)