• Read all of this, especially all the linked docs, and be careful. All the data on the Jetson will be PERMANENTLY erased!
• Required components
  • Any NVIDIA SSO account
  • 2x ethernet cables
  • USB-C 3.x cable (plugged into the correct port, for AGX Orion 64GB the side with the GPIO pins)
  • Display port and monitor for Jetson
  • A computer running Docker
• The GUI tool makes changes to your host operating system, it is not recommended to use it
  • The Docker container is the best way. It has a fancy ncurses CLI, it's reasonably easy to use
  • Download the SDK docker image: https://developer.nvidia.com/sdk-manager
  • Follow this tutorial on the NVIDIA website
  • See commands under "Additional Considerations", copy-pasted to Appendix A: Example commands to flash JetPack
• This page contains all the packages the JetPack should have installed. The SDK manager utility does not always finish doing this, so fill in the missing components under the command jetson-release
• It's required for your device to allow SSH passwords, as the Jetson SDK does most of its operations over SSH in this way
• It's not recommended to flash a Jetson over the university's network, as the JetPack SDK requires wake-on-LAN
• The SDK will try to put the Jetson into flashing mode, and sometimes this will fail. You may want to manually put it in flashing mode before you start

Background of the issues and why this is here: Discovered when looking to run 3 Intel RealSense D435i Depth Cameras on a Jetson AGX Orion 64GB running Jetpack 6.2.

when following the instruction in the README of the realsense-ros repo (as of commit 1cbd81b on the 2nd Sept 2024) it is Highly recommend to build the wrapper package for ROS from source.

This is perhaps the MOST IMPORTANT PART to getting the working, install the Intel RealSense SDK 2.0 by building the librealsense2 from source.

This can be attempted a few way, but we have only tested the methods below:

• clone the repo for librealsense2

git clone https://github.com/IntelRealSense/librealsense.git

• the simplest way that we found is to run libuvc_installation.sh, located in librealsense/scripts/libuvc_installation.sh of the librealsense repo

  A copy for archival purposes can also be found in this repo here

  • During this you will be asked to remove any realsense cameras attached
  • This can take a while so maybe go get a coffee or something 😉

• After the build and installation is done you can plug in the realsense camera and run realsense-viewer to check if you camera is detected

When trying to run a Realsense D435i we found that realsense viewer was failing to communicate with the camera. To solve this found that flashing the camera with firmware 15.13.0.50 allowed the D435i to be detected.

A link to download 15.13.0.50 for the D435i can be found here

• Native ROS installs on AARCH do not come with gazebo. Docker is your friend

# To fix "Known Issues"
sudo apt install qemu-user-static binfmt-support
sudo update-binfmts --enable
sudo killall adb

# Download this on a GUI computer https://developer.download.nvidia.com/sdkmanager/redirects/sdkmanager-docker-image-ubuntu2204.html
# Fill in the gaps with these command
docker load -i ./sdkmanager-[version].[build#]-[base_OS]_docker.tar.gz
docker tag sdkmanager:[version].[build#] sdkmanager:latest

# Download everything we need
docker run -it --privileged           \
  -v /dev/bus/usb:/dev/bus/usb/       \
  -v /dev:/dev                        \
  -v /media/$USER:/media/nvidia:slave \
  --name JetPack_AGX_Orin_Devkit      \
  --network host                      \
  sdkmanager --cli                    \
    --action install                  \
    --login-type devzone              \
    --product Jetson                  \
    --target-os Linux                 \
    --version 6.2                     \
    --target JETSON_AGX_ORIN_TARGETS  \
    --flash                           \
    --license accept                  \
    --stay-logged-in true             \
    --collect-usage-data disable      \
    --exit-on-finish

docker commit JetPack_AGX_Orin_Devkit jetpack_agx_orin_devkit:6.2_flash
docker container rm JetPack_AGX_Orin_Devkit
docker run -it --rm --privileged -v /dev/bus/usb:/dev/bus/usb/ jetpack_agx_orin_devkit:6.2_flash