Racecar software installation

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In order to run the Racecar you will need the Robot Operating System, the Racecar base code and a number of other dependencies. You can install these either from a prebuilt image, or through an install script.

Flash installation

Flashing the Racecar with new software requires Nvidia's Jetpack software and an image of the software you would like to install.

Installing JetPack

  1. Make a directory for you JetPack installation. For example:
    mkdir ~/JetPack
  2. Download JetPack from Nvidia's developer site; this requires creating an Nvidia account. Move the downloaded file named JetPack-${VERSION}.run into your JetPack directory.
  3. Make the .run file executable:
    chmod +x JetPack-${VERSION}.run
  4. Run the executable and follow the on-screen instructions. See here for more detailed instructions. Exit the installation after you arrive at the screen labeled "Network Layout".

Cloning an image from a TX2

  1. Put the TX2 into recovery mode.
  2. cd [YOUR_JETPACK_DIR]/64_TX2/Linux_for_Tegra
  3. Run the following command to begin flashing, where backup.img is the location of the image you want to save.
    sudo ./flash.sh -r -k APP -G backup.img jetson-tx2 mmcblk0p1

After cloning completes (it takes approximately 20 minutes), you will have two images; backup.img and backup.img.raw. The *.img.raw file is the one you should use to flash other cars.

Flashing an image onto a TX2

  1. cd [YOUR_JETPACK_DIR]/64_TX2/Linux_for_Tegra
  2. Copy the image you want to flash into the bootloader directory and rename it system.img. For example:
    cp backup.img.raw bootloader/system.img
  3. Put the TX2 into recovery mode.
  4. sudo ./flash.sh -r -k APP jetson-tx2 mmcblk0p1

After flashing completes (it takes approximately 20 minutes), the car will reboot automatically into the new kernel.

You may need to recalibrate the ZED camera using:

/usr/local/zed/tools/ZED\ Calibration

Manual installation

Flash Ubuntu onto the Racecar.

sudo apt-get install ros-kinetic-desktop

sudo apt-get install ros-kinetic-velodyne ros-kinetic-ackermann-msgs ros-kinetic-joy ros-kinetic-serial