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:

  1. Nvidia base image: l4t-base (r32.4.3)
  2. ROS melodic
  3. 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