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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / f63bde80e20afb7f74dd12bf62b9a019e1b80e1c / . / frc971 / orin
tree: 7200af64d9dad788430cd979111ff2ea13e7b2d6 [path history] [tgz]
  1. contents/
  2. virtual_packages/
  3. apriltag.cc
  4. apriltag.h
  5. apriltag_detect.cc
  6. argus_camera.cc
  7. BUILD
  8. build_rootfs.py
  9. crcv_generator.cc
  10. cuda.cc
  11. cuda.h
  12. cuda_april_tag_test.cc
  13. doflash_frc971.sh
  14. gpu_apriltag.cc
  15. gpu_image.h
  16. labeling_allegretti_2019_BKE.cc
  17. labeling_allegretti_2019_BKE.h
  18. line_fit_filter.cc
  19. line_fit_filter.h
  20. orin_debian_rootfs.BUILD.template
  21. output_iterator_test.cc
  22. points.cc
  23. points.h
  24. points_test.cc
  25. README.md
  26. threshold.cc
  27. threshold.h
  28. transform_output_iterator.h
frc971/orin/README.md

Building the rootfs for the Orin NX 8g

Our code targets Debian Bookworm. Debian support for the Orin is poor, but yocto support is pretty good. So, rather than try to recreate what Yocto has, we instead install the .deb's that Yocto generates for the NVIDIA libraries and install them on a bookworm sysroot. To do this:

Check out and follow the instructions on https://github.com/frc971/meta-frc971 to create a working image for the Orin. You will need this to install.

Then, build a Bookworm image.

./build_rootfs.py

You'll likely have to point that to your yocto build unless your username is austin.

From there, copy the resulting image to ./frc971-image-orin-nx-8g.tegraflash.tar.gz

Then, hold the bootloader switch, reboot the Orin, and then run the install script to install it on your orin.

doflash_frc971.sh