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tags: ROSKY2 ROS2 Jetson nano

CH 0-0: ROSKY2 - setup operating environment with Jetson Nano Developer 4G kit

This note will tell you how to setup the Project "ROSKY2" with Jetson nano developer 4G kit.

Hardware you need to prepare before writing image

To prepare your microSD card, you’ll need a computer with Internet connection and the ability to read and write SD cards, either via a built-in SD card slot or adapter. Notice space of the MicroSD card need bigger than 32 GB.

1. Write Image to the microSD Card

1-1. Install balenaEtcher

I suggest using balenaEtcher to write the image with Microsoft windows system. Please visit the official website to download the software: balenaEtcher official website

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
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Please click the "Download for Windows(x86|x64)" button to download and then run the file to install. If you can install smoothly then you can see the icon "balenaEtcher" in the desktop.

1-2. Download the image

Nvidia don't offer ubuntu 20.04 image for the Jetson nano now(2021/10/18). We can use the third-party image to write to the microSD Card. Please visit this webiste to download and unzip file: Xubuntu 20.04 Focal Fossa L4T R32.3.1 - Custom Image for the Jetson Nano

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
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1-3. Start writing image!

Ok! Now we have already prepared to write image to the microSD Card! Please double click icon "balenaEtcher" on your desktop to run the software.

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

If you can see the image above on your desktop, then you can follow the steps below to write image:

  1. click "Flash" from file and select your image. If you don't rename the image file, you should select "Xubuntu-20.04-l4t-r32.3.1.img"
  2. If you use adapter, please insert it into your computer and then click "Select target" to select your microSD card.

Great! Now everything is done, you can see the similar image below:

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Please click the blue button "Flash!", and then you will need some time to flash the image. If the balenaEtcher finish flashing normally, you can see the similar image below:

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Now you can take out the microSD card from your computer.

2. Install Ubuntu 20.04 on ROSKY

In this step, we have to install Ubuntu 20.04 through the microSD card. Please insert the microSD card into the Jetson nano. After that, you can power on Jetson nano and follow install steps to install Ubuntu 20.04.

3. Install ROS1 and ROS2 through ros_menu and dependencies for project ROSKY2

we can use the ros_menu provided by Adlink to install ROS1, ROS2 and package ros-foxy-ros1-bridge. Please followe these steps below to install.

3-1. open the terminator

Please press [ctrl] + [alt] + [t] on desktop to open the terminal

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

3-2. type command to install ros_menu automatically

Please type command below in the terminal

source ~/ROSKY2/install_script/install_adlink_ros_menu.sh

After that, please follow steps show on the terminal to install ros_menu.

3-3. install dependenices for project ROSKY2

After finish installing ros_menu, we need to resource ~/.bashrc to update the terminal you use now. Please type command below to update:

source ~/.bashrc

After update, you can see some selections which environment you want to use in terminal, please type 2 to choose ROS2:

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
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Great! Now we can use the script rosky2_dependencies.sh to install dependenices. Please type command below on the terminal to install:

source ~/ROSKY2/install_script/rosky2_dependencies.sh

4. build project ROSKY2 workspace

This step is the last step and make sure you have done:

  1. Write Image to the microSD Card
  2. Install Ubuntu 20.04 on ROSKY
  3. Install ROS1 and ROS2 through ros_menu and dependencies for project ROSKY2

Ok! Now open the terminal and choose 2 to run the ROS2 environment, and then type command below:

cd ~/ROSKY2/ros2_ws && colcon build --symlink-install

You may see the error:

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Don't worry! You can type colcon build --symlink-install again and then everythings will be fine.

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Finally, we will edit cmds in ~/ros_menu/config.yaml to let terminal can find the project ROSKY2. Please type command below that help you to edit:

cd ~/ROSKY2/setup/python_scripts && python3 config.py

Image Not Showing Possible Reasons
  • The image file may be corrupted
  • The server hosting the image is unavailable
  • The image path is incorrect
  • The image format is not supported
Learn More →

Next

User can continue the note -> CH 1: ROSKY2 - remotely log in

Please have fun to use ROSKY2 :)

Last changed by 
 
Lin Wei-Chih
Promote robotics and AI in educational institutions from primary school to college.
0
488

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