JetsonSetupGuide

What does this repository do?

• Install ROS on Jetson
• Install OpenCV with CUDA support on Jetson
• Install some ROS packages relying on OpenCV
• Clone the Jetson NVME SSD (Optional)

Tested on

• Jetson AGX Orin
• Jetson AGX Orin NX

Tested software version

• JetPack 5.1.2, JetPack 5.1.3, JetPack 5.1.4
• ROS Noetic
• OpenCV 4.5.5

First, you need to install the JetPack

Follow the instructions to install the JetPack using the SDK Manager if you have not done it yet.

Things to do after installing JetPack

1. Clone this repository.
2. Modify the HOME_USER, OPENCV_VERSION, CUDA_ARCH_BIN and ROS_VERSION in the install_ros.sh and install_opencv.sh and install_packages.sh scripts. You may go to cuda-arch-bin to find the CUDA_ARCH_BIN for your GPU.
3. Run the scripts in the docs folder.

For a new Jetson, you need to install the ros

Note: you need to type 'sudo -s' in terminal before running the scripts

cd docs
sudo -s
bash install_ros.sh

Then compile the OpenCV with CUDA support

Note: you need to type 'sudo -s' in terminal before running the scripts

cd docs
sudo -s
bash install_opencv.sh

After Reinstall OpenCV, we need to compile some ROS packages relying on OpenCV

Note: you need to type 'sudo -s' in terminal before running the scripts

cd docs
sudo -s
bash install_packages.sh

Clone the Jetson NVME SSD

For the case where you have multiple Jetson devices, you can clone the NVME SSD to save time.

• Before cloning, you may also install other necessary softwares (like VS code, camera driver, etc.) on the Jetson to avoid the installation process.

I have tried to use the tools in Linux_for_Tegra to clone the NVME SSD, but it did not work. The whole process will be stuck at the 'Flashing the device' step. So I switched other tools to clone the NVME SSD. The dd command can work, however, it is not recommended because it will clone the whole disk, including the empty space. Finally, I found the Clonezilla tool can work well.

What you need

• A NVME SSD
• A NVME SSD enclosure adapter
• A USB drive
• A Host PC to save the clone image

Step 1: Prepare the USB drive

1. Download the Clonezilla live iso file from the official website.
2. Use the 'Startup Disk Creator' to create a bootable USB drive with the Clonezilla live iso file.

Step 2: Clone the NVME SSD

1. Boot the Host PC with the USB drive.
2. When Clonezilla boots, select Clonezilla live and press Enter.
3. Choose your language and select Keep the default keyboard layout.
4. Select Start Clonezilla.
5. Choose device-device mode if you want to clone directly from one drive to another or device-image mode if you want to create an image file of the drive.
6. For the first time, you need to select local_dev to specify the destination path to save the image file.
7. For Device-Image Clone (Save an Image):
   1. Select Beginner mode.
   2. Choose savedisk to save the entire disk as an image.
   3. Select the source drive.
   4. Confirm the operation, and Clonezilla will create a compressed image of the drive.

Step 3: Restore the NVME SSD

1. Choose device-image mode.
2. For Device-Image Clone (Restore an Image):
   1. Select Beginner mode.
   2. Choose restoredisk to restore the entire disk from an image.
   3. Select the image file.
   4. Select the destination drive.
   5. Confirm the operation, and Clonezilla will restore the image to the drive.