Skip to content

Latest commit

 

History

History
122 lines (83 loc) · 3.44 KB

dev-informations.md

File metadata and controls

122 lines (83 loc) · 3.44 KB

1. Informations for developer

The Basler camera are currently mounted on iCub Humanoid robot attached on a NVIDIA Jetson Xavier NX or NVIDIA Jetson Nano.

1.1. Available features:

The available features exposed depends by the model of the device:

1.2. Network

The NVIDIA Nano is connecte p2p to the icub-head in the 10.0.0.x network as follow: image

It can be reached from outside through a routing rule passing through the icub-head.

1.2.1. SSH

For connecting via ssh:

ssh -X nvidia@10.0.0.17

pwd: nvidia

1.2.2. Internet acess to Nvidia board via Shorewall

You need shorewall to access internet ONLY if the Nano/Xavier is not connected to icub-head

Check and modify in file (you can find it in the repository) shorewall/interfaces

  • internet access netcard (ZONE=net) with your internet card
  • local access netcard (ZONE=lan) with your LAN net card

For check netcard names ifconfig

Do the same in shorewall/masq <internet card><lan card>

Then

sudo apt-get install shorewall
sudo cp shorewall/* /etc/shorewall
sudo service shorewall start

On host PC make sure your IP4 address is:

static
ip:10.0.0.2
netmask:255.255.255.0
gateway:10.0.0.17

❗To be done on Nvidia.

Configure the board address via GUI:

static
ip:10.0.0.17
netmask:255.255.255.0
gateway:10.0.0.2

❗Test

Test from Nvidia ping 8.8.8.8

⚠️Troubleshooting

  • Check if the Nvidia is running and is connected.
  • Check Nvidia address
  • Check if eth board on icub-head is correctly configured

1.3. Firmware

For flashing the jetpack firmware rember the use the jumper as follow:

jumper

For normal use remove it.

1.4. Software

If you are using a jetpack based on Ubuntu 18.04, you have to install cmake from kitware ppa.

sudo apt purge --auto-remove cmake
sudo apt update && \
sudo apt install -y software-properties-common lsb-release && \
sudo apt clean all
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
sudo apt update
sudo apt install kitware-archive-keyring
sudo rm /etc/apt/trusted.gpg.d/kitware.gpg
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 6AF7F09730B3F0A4
sudo apt update
sudo apt install cmake
sudo apt install cmake-curses-gui

2. Testing the board

To test if the board images have artifacts it is possible to use yarpdatadumper

yarpdev --from PylonConf.ini
yarpdatadumper --name /log --rxTime --txTime --type image
yarp connect /right_cam /log mjpeg

...wait for some seconds...

killall yarpdatadumper

Then check in folder /log in each images for artifacts

3. Notes