From b286efeb86d3cc10c12a7130d91ae773f6ee6c6c Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 5 Feb 2025 10:33:02 +0100
Subject: [PATCH] Updating jetson installation parts.

---
 extras/jetson/README.md     | 69 ++++++++++++++++++++++---------------
 scripts/test_triangulate.py |  3 --
 skelda                      |  2 +-
 3 files changed, 42 insertions(+), 32 deletions(-)

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 971e0b4..f1e1e74 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -10,15 +10,42 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Install newest software image: \
   (https://developer.nvidia.com/sdk-manager)
 
+  - Use manual recovery mode setup for first installation
+
+  - Find out the _ip-address_ of the _Jetson_ for the runtime component installation with:
+
+    ```bash
+    sudo nmap -sn $(ip route get 1 | awk '{print $(NF-2);exit}')/24
+    ```
+
 - Initialize system: \
   (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
 
+  - Connect via _ssh_, because using _screen_ did not work, skip _oem-config_ step
+
+  - Skip installation of _nvidia-jetpack_
+
 - Install basic tools:
 
   ```bash
   sudo apt install -y curl nano wget git
   ```
 
+- Update hostname:
+
+  ```bash
+  sudo nano /etc/hostname
+  sudo nano /etc/hosts
+  sudo reboot
+  ```
+
+- Enable maximum performance mode:
+
+  ```bash
+  sudo nvpmodel -m 0
+  sudo jetson_clocks
+  ```
+
 - Test docker is working:
 
   ```bash
@@ -30,37 +57,29 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 
 - Enable GPU-access for docker building:
 
-  Run `sudo nano /etc/docker/daemon.json` and add:
+  - Run `sudo nano /etc/docker/daemon.json` and add:
 
-  ```json
-  {
-    "runtimes": {
-      "nvidia": {
-        "args": [],
-        "path": "nvidia-container-runtime"
-      }
-    },
-    "default-runtime": "nvidia"
-  }
-  ```
+    ```json
+    {
+      "runtimes": {
+        "nvidia": {
+          "args": [],
+          "path": "nvidia-container-runtime"
+        }
+      },
+      "default-runtime": "nvidia"
+    }
+    ```
 
-  Restart docker: `sudo systemctl restart docker`
+  - Restart docker: `sudo systemctl restart docker`
 
 - Test docker is working:
 
   ```bash
   docker run --rm hello-world
-  docker run -it --rm --runtime=nvidia --network=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:r36.2.0
   docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
   ```
 
-- Enable maximum performance mode:
-
-  ```bash
-  sudo nvpmodel -m 0
-  sudo jetson_clocks
-  ```
-
 <br>
 
 ## RPT installation
@@ -103,12 +122,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   python3 /RapidPoseTriangulation/scripts/test_triangulate.py
   ```
 
-- Evaluate datasets:
-
-  ```bash
-  python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
-  ```
-
 <br>
 
 ## ROS interface
@@ -124,6 +137,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```bash
   docker compose -f extras/jetson/docker-compose.yml up
 
-  docker exec -it ros-test_node-1 bash
+  docker exec -it jetson-test_node-1 bash
   export ROS_DOMAIN_ID=18
   ```
diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py
index af85cae..d036913 100644
--- a/scripts/test_triangulate.py
+++ b/scripts/test_triangulate.py
@@ -63,9 +63,6 @@ def update_sample(sample, new_dir=""):
 
 def main():
 
-    # Manually set matplotlib backend
-    matplotlib.use("TkAgg")
-
     for dirname in sorted(os.listdir(test_img_dir)):
         dirpath = os.path.join(test_img_dir, dirname)
 
diff --git a/skelda b/skelda
index 64ffd81..ab5b744 160000
--- a/skelda
+++ b/skelda
@@ -1 +1 @@
-Subproject commit 64ffd813a844785c42d6e8b068acdd74899b7032
+Subproject commit ab5b744cc639b7a0d7b8fef964ffa3b2b5c03b20