RapidPoseTriangulation/ros/README-Jetson-Setup.md

ROS

Build

• Install system:
  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)

• Install docker:
  (https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script)

• Install nvidia-container-toolkit:
  (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)

• Enable GPU-access for docker building:

  Run sudo nano /etc/docker/daemon.json and add:

  {
    "runtimes": {
      "nvidia": {
        "path": "nvidia-container-runtime",
        "runtimeArgs": []
      }
    },
    "default-runtime": "nvidia"
  }
  

  Restart docker: sudo systemctl restart docker

• Install vs-code:
  (https://code.visualstudio.com/docs/setup/linux)

• Test docker is working: \

  sudo docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:35.4.1
  sudo docker run --runtime nvidia -it --rm --network=host nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3