.. _jetson_orin:

Jetson Orin
===========

Jetson Orin is the on-board compute for ToddlerBot. We recommend Jetson Orin NX 16GB due to its cost effectiveness.


Flash the System
-----------------

#. Follow the instructions on `this page <https://wiki.seeedstudio.com/reComputer_J4012_Flash_Jetpack/#flash-jetpack>`_ to flash the system.
   We've also provided some tips below to help you through the process.

   - For the Enter Force Recover Mode, you can refer to this photo if the GIF on the page is not clear.

   .. image:: ../_static/jetson_flash_pins.png

   - Click on JP6.0 tab and download the image corresponding to Jetson Orin NX 16GB. The download link may be slow—it took us about an hour to download the image.

#. After flashing, unplug the powercable, the USB-C cable and the jumper wire. Replug the power cable, the HDMI cable, the keyboard and the mouse.
   The system should boot up now. The start screen should look like this:

   .. image:: ../_static/jetson_start_screen.jpg

#. Enter your username and password.

#. Set the APP Partition to the max size.

#. No need to install the Chromium browser.

#. Power off the Jetson Orin and install the WiFi card like the photo below.

   .. image:: ../_static/jetson_wifi.jpg

#. Power on the Jetson Orin and connect to the WiFi.

#. Press :kbd:`Ctrl` + :kbd:`Alt` + :kbd:`T` to open the terminal. Run ``ifconfig`` to check the IP address of the Jetson Orin.
   Write down the IP address and the hostname of the Jetson Orin, e.g., ``192.168.0.237`` and ``toddy@toddy-desktop``.

#. Select the power mode on the top right corner to **0:MAXN**.

#. Now feel free to unplug the HDMI cable, the keyboard and the mouse. We will access the Jetson Orin through SSH for the following steps.

.. note::
   The USB-C port on Jetson is only for flashing, which means transfering data
   through this port won't work.


Set up Real-Time (RT) Kernel
--------------------------------
#. SSH into the Jetson Orin.

   .. code:: bash

      ssh toddy@toddy-desktop.local

#. Follow the instructions on `this page <https://docs.nvidia.com/jetson/archives/r36.3/DeveloperGuide/SD/SoftwarePackagesAndTheUpdateMechanism.html#real-time-kernel-using-ota-update>`__ to install the real-time kernel.
   We found that it's OK to ignore the warning message below, but please open a GitHub issue if you encounter any problem:

   .. code:: bash

      Errors were encountered while processing:
      nvidia-l4t-rt-kernel
      nvidia-l4t-rt-kernel-oot-modules
      nvidia-l4t-rt-kernel-headers
      nvidia-l4t-display-rt-kernel
      E: Sub-process /usr/bin/dpkg returned an error code (1)

#. After rebooting, check the kernel version with ``uname -r``. It should be ``5.15.136-rt-tegra``. The numbers may vary, but ``-rt-tegra`` should be there.


Additional Packages
-------------------------
#. Go through the steps in :ref:`setup`. Note that ``wget`` is handy for downloading the Miniforge installer from the terminal.


#. For Jetson, you need to follow the information on `this page <https://forums.developer.nvidia.com/t/pytorch-for-jetson/72048>`__
   to install ``torch`` and ``torchvision``. Please do **NOT** install ``numpy`` when installing ``torch`` as it will install ``numpy 2.x`` and cause conflicts. 
   For reference, we downloaded `the wheel file for PyTorch v2.3.0 with JetPack 6.0 (L4T R36.2 / R36.3) + CUDA 12.2 <https://nvidia.box.com/shared/static/mp164asf3sceb570wvjsrezk1p4ftj8t.whl>`__.

   We find that the ``--content-disposition`` option is useful for downloading the file with the correct name:

   .. code:: bash

      wget --content-disposition <link/to/the/wheel>

   Assuming the toddlerbot conda environment is activated, install the wheels with:

   .. code:: bash

      pip install <path/to/the/wheel>


   Last but not least, run the following command to verify that ``jax`` and ``torch`` versions are compatible:

   .. code:: bash

      python examples/test_jax_torch.py --platform jetson


#. We need to install Jetson.GPIO. Revised from instructions on `this page <https://github.com/NVIDIA/jetson-gpio>`__, we need to run the following commands to set it up:

   .. code:: bash

      sudo groupadd -f -r gpio
      sudo usermod -aG gpio $USER
      sudo chown root.gpio /dev/gpiochip0
      sudo chmod 660 /dev/gpiochip0

      conda activate toddlerbot
      sudo cp ~/miniforge3/envs/toddlerbot/lib/python3.10/site-packages/Jetson/GPIO/99-gpio.rules /etc/udev/rules.d/
      sudo udevadm control --reload-rules && sudo udevadm trigger

#. To access the imu and dynamixel motors, we need to add the user to i2c and dialout group.

   .. code:: bash

      sudo usermod -aG i2c $USER
      sudo usermod -aG dialout $USER


#. Now reboot the Jetson Orin. Run ``groups`` to check if the user is in the i2c, dialout, and gpio group. An example output looks like this:

   .. code:: bash

      toddy adm dialout cdrom sudo audio dip video plugdev render i2c lpadmin sambashare gdm weston-launch gpio


#. For the accuracy of teleoperation and logging over network, we need to
   install ntp package to sync time of the Jetson to server.

   .. code:: bash

      sudo apt install ntp ntpdate
      sudo systemctl enable ntp
      
      sudo nano /etc/ntp.conf

      comment out the following lines:

      # pool 0.ubuntu.pool.ntp.org iburst
      # pool 1.ubuntu.pool.ntp.org iburst
      # pool 2.ubuntu.pool.ntp.org iburst
      # pool 3.ubuntu.pool.ntp.org iburst
      # pool ntp.ubuntu.com

      add:

      server <ip address of the steam deck> iburst

      sudo systemctl start ntp

#. For the fisheye cameras to work, we need to install the following packages:

   .. code:: bash

      sudo apt install v4l-utils ffmpeg

#. For the speaker and microphone to work, we need to install the following packages:

   .. code:: bash

      sudo apt install portaudio19-dev flac