JetRacer ROS AI Kit Tutorial II: Install Jetson Nano Image

JetRacer ROS Kit User Guide

• JetRacer ROS Kit Tutorial I: How to assemble the JetRacer
• JetRacer ROS Kit Tutorial II: How to Install the Jetson Nano Image
• JetRacer ROS Kit Tutorial III: How to install Ubuntu Virtual Image
• JetRacer ROS Kit Tutorial IV: How to congifure multi-machine communication
• JetRacer ROS Kit Tutorial V: Robot Movement Control
• JetRacer ROS Kit Tutorial VI: View Node Topics With ROS
• JetRacer ROS Kit Tutorial VII: Robot Odometer Calibration
• JetRacer ROS Kit Tutorial VIII: Start the Camera Node
• JetRacer ROS Kit Tutorial IX: Enable the Lidar Node
• JetRacer Main Page

Step 1: Program Jetson Nano Image

• Tip: If you have bought a full kit, you will get an SD card with a programmed image, and you can skip this step.
  
• The configured image is provided here. If you want to configure the image by yourself, you can refer to the advanced tutorial. It is recommended to use our configured image for the first time to avoid problems when configuring the image yourself.
  • JetRacer ROS Image
• Prepare an SD card (minimum 64G) and insert it into the computer with a card reader.
• Please use SDFormatter to format the SD card. 【Note that other storage devices should be disconnected when formatting so as to prevent misoperation.】

• Download Win32DiskImager to program the image to the SD card.

• After programming, please eject the SD card.

Step 2: Connect Jetson Nano to WiFi (with Display)

• Tip: Connect peripherals such as monitors here, the main purpose is to easily connect to WiFi; if you do not have a monitor, you can refer to step 3.
• Insert the SD card into the Jetson Nano (the SD card slot is on the back of the Jetson Nano module).
• Prepare mouse, keyboard, and monitor, and connect to jetson nano board.
• Turn on the power switch to start the Jetson Nano, and log in after the display lights up normally, where the user name and password: jetson.

• As login successfully, you can click WiFi to connect. 【Note: Make sure that jetson nano and PC are connected to the same network, otherwise subsequent communication will fail.】

• After connecting to WiFi successfully, the OLED screen of the JetRacer will automatically display the IP address of the WiFi.

• Unplug the mouse, keyboard, and other peripherals, and we can perform SSH remote login.

Step 3: Connect Jetson Nano to WiFi (without Display)

• Connect the network cable to the Jetson Nano, and then the JetRacer will display the IP address of the network cable [Note: Your PC and Jetson Nano should be connected to the same route to ensure the same network segment, otherwise SSH remote login will fail].
• Click to download MobaXterm software for SSH remote login.
• Open MobaXterm, click "Session -> SSH", fill in the IP address displayed by the car in the host, and press Enter to open the terminal; the login name and password are jetson.

• Start connecting to the WiFi
  • 1. Enter the command to turn on WiFi:

• sudo nmcli r wifi on 

  • 2. Enter the command to scan the WiFi.

•  sudo nmcli dev wifi 

  • 3. Enter the command to connect to the WiFi network [where wifi_name and wifi_password are the WiFi name and password you want to connect to].

•  nmcli dev wifi connect wifi_name password wifi_passward 

  • 4. The display of "successfully" means the WiFi connection is successful, please reboot and unplug the network cable, it will automatically connect to the WiFi you specified after booting.

Step 4: SSH Remote Login

• In the previous steps, we connected the jetson nano and the PC host to the same WiFi, and after restarting the jetson nano will generally remain connected to the original WiFi, and the IP will remain unchanged.
• In the following operations, we all use SSH remote login to start the robot node.
• When the jetson nano is powered on, the OLED screen of the car will display the IP address of the last connected WiFi. At this time, the IP address of the WiFi will be displayed first. If the WiFi is not connected, the IP address of the wired network port will be displayed.

MobaXterm Login

• Download MobaXterm software for SSH Remote Login.
• Open MobaXterm, click "Session -> SSH", fill in the IP address displayed by the car in the host, and press Enter to open the terminal; the login name and password are jetson.

MobaXterm File Transmission

• It is easy to transfer the files by MobaXterm.
  • To transfer files from Windows to Raspberry Pi simply drag the files to the left directory of MobaXterm.
  • Similarly, to transfer Raspberry Pi files to Windows, just drag the files in the left directory of MobaXterm to Windows.

NoMachine Login

• Compared with SSH and VNC, you may not know much about Nomachine. Nomachine is a free remote desktop software.
• NoMachine basically covers all major major operating systems, including Windows, Mac, Linux, iOS, Android and Raspberry, etc.

Install On Jetson Nano

1. Download and unzip the Nomachine
2. After unzipping, you can copy the ".deb file" to the Jetson Nano by the U disk driver or MobaXterm File Transmission.
3. Install command:

sudo dpkg -i nomachine_7.10.1_1_arm64.deb

Install On the Windows Computer

• Download Nomachine and open it to install. After clicking Finish, you also need to restart the computer.

Connect To Jetson Nano

1. Open NoMachine and enter the IP address of the Jetson Nano. For example 192.168.15.100
Note: Please refer to the IP address displayed by the OLED on your car.

2. Click Connect to new host 192.168.15.100, enter the name and password of the Jetson Nano, and then click to log in.
Use the configured image provided by Waveshare. The name and password are jetson.

3. After downloading, there will display the software introduction, just click "ok".

4. Now we can successfully log in to the Jetson Nano.

Step 5: Get Virtual IP and Hostname

• Open the robot terminal and enter the following command, check the IP and hostname of the Jetson Nano and remember that it will be used for subsequent multi-machine communication.

ifconfig #Get the IP address of the virtual machine
hostname #Get the hostname of the virtual machine

• Enter the command to check the WiFi name that Jetson Nano is connected to, and make the PC also connect to the same WiFi.

iwconfig wlan0 #View WiFi name