new board setup

Setup instructions for creating a fresh dev environment for the Jetson Orin Nano

Add storage to Jetson (SD or SSD, at least 128GB), flash Jetpack 6.0 rev. 2 using NVIDIA SDK manager

This MUST be done through SDK manager to ensure old bugged USB firmware is replaced. Flashing an SD card will not fix them.

installation:

sudo apt update && sudo apt upgrade -y
sudo apt install -y nvidia-jetpack
#Needed because something's wrong with sdk manager 6.0 rev.2 TensorRT

Acquire and run ZED SDK install script: https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.1/ZED_SDK_Tegra_L4T36.3_v4.1.3.zstd.run

#setup

sudo adduser sailbot dialout
sudo adduser sailbot tty

#ROS

Install ROS desktop and dev tools from deb packages

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

echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
source ~/.bashrc

cd ~

#manually compile some dependencies

sudo apt install libgeographic-dev libboost-python-dev

mkdir ros2_ws
cd ros2_ws
mkdir src
cd src
git clone https://github.com/stereolabs/zed-ros2-wrapper.git --recurse-submodules
cd ..
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y
colcon build --symlink-install

echo 'source /home/sailbot/ros2_ws/install/local_setup.bash' >> ~/.bashrc
source ~/.bashrc

cd ~

sudo apt install libcgal-dev

#Need repo rights for this (ssh key)
git clone git@github.com:wpisailbot/sailbot24-25.git --recurse-submodules
cd ~/sailbot24-25/sailbot_ws
colcon build --symlink-install
echo 'source /home/sailbot/sailbot24-25/sailbot_ws/install/local_setup.bash' >> ~/.bashrc
source ~/.bashrc
cd ..
sudo ./setup.sh

#install pip dependencies
python3 -m pip install --upgrade pyserial numpy==1.24.4 adafruit-blinka opencv-python scikit-fuzzy protobuf grpcio pyproj geopy esptool filterpy

#trim tab server
sudo apt install -y python3-venv # fixes error about Platformio not being able to find Python
cd ~
git clone git@github.com:wpisailbot/trim_tab_server.git

Instructions for enabling 4G modem:

sudo mmcli -m 0
sudo nmcli c add type gsm ifname <primary port from previous command output> con-name cell apn Mint
sudo nmcli r wwan on
sudo reboot