Jetson tk1 刷機后要做的幾件事

參考簡書文章：

http://www.jianshu.com/p/997ede860d74

1. 查看Jetson TK1 L4T版本

head -n 1 /etc/nv_tegra_release

2. 查看系統位數（32/64）,當然是32位的了

getconf LONG_BIT

3. 修改密碼（ubuntu太長了）

sudo passwd ubuntu(root或對應的用戶名)

4. 按照上一篇教程，更新軟件源

   參考上一篇博客

5. 安裝git

sudo apt-get update
sudo apt-get install git

6. 配置postFlash腳本：

git clone https://github.com/jetsonhacks/postFlash.git
cd postFlash
./configureSystem.sh

這個腳本主要幫我們完成了一下一些事：

• Chromium is installed as a browser. Firefox has issues downloading .zip files, so Chromium is a good alternative. Two other applications are also installed, aptitude and git.
• USB 3.0 is enabled. The default is USB 2.0, /boot/extlinux/extlinux.conf must be modified to enable USB 3.0.
• Two scripts are installed in /usr/local/bin. To conserve power, by default the Jetson suspends power to the USB ports when they are not in use. In a desktop environment, this can lead to issues with devices such as cameras and webcams. The first script disables USB autosuspend.
• Also to conserve power, the Jetson manipulates the CPU cores and GPU clock speeds. The second script sets everything up for maximum performance.

7. 安裝Grinch Kernel （本人未安裝）

這一部分主要參考了以下這篇博客：

Install Grinch Kernel for L4T 21.3 on NVIDIA Jetson TK1

以及以下git中的代碼：

https://github.com/jetsonhacks/installGrinch

關於Grinch是什么，為什么Nvidia沒有默認安裝Grinch：

Many people, especially those coming from desktop platforms, wonder why the Jetson lacks initial support for a wide variety of external peripherals when removed from the box. The reason is that the Jetson is an embedded development kit, which means its main initial intent was to help developers build devices that include the Tegra K1 chip. If you think about it from that perspective, it wouldn’t make much sense to have extra drivers and cruft installed that a device doesn’t use. For example, if you were building a phone, it doesn’t make sense to have drivers for 20 different wireless cards that the phone doesn’t contain.

However, the Jetson is also powerful enough to be a general purpose desktop computer. Desktop computer users have certain expectations, including being able to add devices and drivers, or have support for common devices available. Fortunately the Jetson community, led by user Santyago built a new Linux kernel named Grinch which includes a lot of the features to which most desktop users are accustomed.

安裝方式如下：

git clone https://github.com/jetsonhacks/installGrinch.git
cd installGrinch
./installGrinch.sh

8. 安裝ROS Indigo

這一部分主要參考了以下幾篇文章：

Nvidia Jetson TK1 ROS wiki

Ubuntu ARM install of ROS Indigo

Robot Operating System (ROS) on NVIDIA Jetson TK1

git clone https://github.com/jetsonhacks/installROS.git
cd installROS

  設置Rviz。至於安裝腳本為什么沒有默認設置RVIZ，我們可以參考官方wiki上的說明：

It is not recommended to run rviz on most ARM-based CPUs. They're generally too slow, and the version of OpenGL that is provided by the software (mesa) libraries it not new enough to start rviz.

'IF' you have a powerful board with a GPU and vendor-supplied OpenGL libraries, it might be possible to run rviz. The IFC6410 and the NVidia Jetson TK1 are two such boards where rviz will run, although neither is fast enough for graphics-heavy tasks such as displaying pointclouds.

Note that rviz will segfault if you have the GTK_IM_MODULE environment variable set, so it's best to unset it in your~/.bashrc:

unset GTK_IM_MODULE

根據官方wiki，設置RVIZ的方式很簡單，我們只需在installROS.sh文件中加入如圖所示的代碼即可：

最后，在Terminal 中運行：

./installROS.h

   等待一段時間，ROS Indigo就應該安裝好了，可以運行 roscore 檢查是否安裝成功。

9. 安裝g++編譯器

沒有 g++ 編譯器，ROS沒法跑：

sudo apt-get install g++

10. Hacking for OpenCV（還沒做）

這一部分主要參考了以下幾篇文章：

ROS, OpenCV and OpenCV4Tegra on the NVIDIA Jetson TK1

http://myzharbot.robot-home.it/blog/software/ros-nvidia-jetson-tx1-jetson-tk1-opencv-ultimate-guide/

需要修改的文件如下:

• /opt/ros/<ros-version>/lib/pkgconfig/cv_bridge.pc
• /opt/ros/<ros-version>/lib/pkgconfig/image_geometry.pc
• /opt/ros/<ros-version>/share/cv_bridge/cmake/cv_bridgeConfig.cmake
• /opt/ros/<ros-version>/share/image_geometry/cmake/image_geometryConfig.cmake

先備份:

sudo cp /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc-bak
sudo cp /opt/ros/indigo/lib/pkgconfig/image_geometry.pc /opt/ros/indigo/lib/pkgconfig/image_geometry.pc-bak
sudo cp /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake-bak
sudo cp /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake-bak

 對以上每個文件做如下修改:

• remove each instance /usr/lib/arm-linux-gnueabihf/libopencv_ocl.so.2.4.8;
• replace each instance of /usr/lib/arm-linux-gnueabihf/ with /usr/lib；
• replace each instance of 2.4.8 with 2.4.12 (or the current version of OpenCV in opencv4tegra package)

sudo gedit /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc &
sudo gedit /opt/ros/indigo/lib/pkgconfig/image_geometry.pc &
sudo gedit /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake &
sudo gedit /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake &

 

安裝Kinect Driver等后續工作可以參考:

http://www.jianshu.com/p/997ede860d74