Software Setup - Docker on Jetson Xavier
The docker images are created on top of the l4t-base image from the Nvidia GPU Cloud.
Get the installation scripts
echo 'export RACECARX=$HOME/racecarx' >> ~/.bashrc
echo 'export RACECARX_JETSON=$RACECARX/git/RACECARX/software/jetson' >> ~/.bashrc
source ~/.bashrc
mkdir -p $RACECARX/git
cd $RACECARX/git
git clone https://github.com/MarkBroerkens/RACECARX.git
Install Udev Rules for the Peripherals
(TODO: should go to pheripherals)
- Alias the Sparkfun 9DoF as /dev/imu
- Alias for electronic speed controller as /dev/vesc
- Alias for the rplidar as /dev/rplidar
- ALias for Intel RealSense D435i camera
cd $RACECARX_JETSON
./scripts/jetsonInstallUdev.sh
make sure we have write access to the VESC and IMU devices
sudo adduser $USER dialout
Further references:
Build docker container
cd $RACECARX_JETSON
./scripts/docker_build_ros.sh
The docker image supports the following features:
- Nvidia base image: l4t-base (r32.4.3)
- ROS melodic
- Realsense camera
Initial setup
cd $RACECARX_JETSON
./scripts/docker_build_racecarx.sh
Run the docker container in interactive mode
cd $RACECARX_JETSON
./scripts/docker_run_racecarx.sh