Starting our stack on the Jetson

Check the file history to see when this was last updates, and add your own updates as needed. Things change frequently on the Jetson.

1. Sometimes Ubuntu will auto-mount the SSD to the wrong location. Just in case, run

$ sudo umount /media/main/VoltronMain
$ sudo umount /media/main/VoltronMain1
...

Repeat as necessary.

2. Mount our SSD to the right place with $ sudo mnt /dev/sda1 /home/main/data

   • Files from the SSD should now be available in /home/main/data/. You can check:

main@voltron:~$ ls /home/main/data/
99-slabs.rules     home                      root                                          sbin                      zed-dockerzed-config
bags               include                   ros2-foxy-20211013-linux-focal-arm64.tar.bz2  snap                      zed_resources
bin                lib                       rosbag2_2021_10_07-18_46_16                   srv                       zed-ros2-examples
boot               linux_install_release.sh  rosbag2_2021_10_07-18_52_10                   tools                     zed_sdk
doc                lost+found                rosbag2_2021_10_07-18_56_25                   zed.conf                  ZED_SDK_Tegra_JP45_v3.6.1.run
docker             media                     rosbag2_2021_10_07-19_01_47                   zed-config.cmake
etc                navigator                 rosbag2_2021_10_09-08_56_33                   zed-config-version.cmake
firmware           opt                       rosbag2_2021_11_06-21_09_51                   zed-docker
get_python_api.py  README.txt                samples                                       zed-dockerresources

3. Reload the Docker daemon to pull from the SSD: $ sudo systemctl restart docker

4. Now start our Navigator image and launch our main launchfile, which handles everything but the ZED camera:

main@voltron:~$ /home/main/navigator_start.bash 
root@voltron:/opt/ws# cd ../ws_vol/
root@voltron:/opt/ws_vol# ls
Dockerfile  Dockerfile_Jetson  LICENSE  README.md  build  data  hw  install  log  main.launch.py  param  rosdep.sh  src
root@voltron:/opt/ws_vol# . install/setup.bash
root@voltron:/opt/ws_vol# ros2 launch main.launch.py
...

• This will start a shell session inside Navigator's Docker container
• If you didn't restart the Docker daemon above, you'll get an error later on like:

main@voltron:~$ ~/navigator_start.bash 
Unable to find image 'wheitman/vde:latest' locally
latest: Pulling from wheitman/vde
Digest: sha256:fcdf9f6e4af3849edfe2825e560fbaae2f5646641b0e9e93aae9fb91b8a5f72f
Status: Downloaded newer image for wheitman/vde:latest
docker: Error response from daemon: layer does not exist.
See 'docker run --help'.

5. In a new tab/session, start our separate ZED Docker image:

$ cd /home/data/zed-docker
~/data/zed-docker$ ./zed_start.bash
Running ZED container inside /home/main/data/zed-docker
root@voltron:/opt/ws_vol# . install/setup.bash
root@voltron:/opt/ws_vol# ros2 launch zed_wrapper zed2.launch.py

which should give:

[INFO] [launch]: All log files can be found below /root/.ros/log/2022-01-26-18-24-02-822146-voltron-44
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [62]
[INFO] [zed_wrapper-2]: process started with pid [63]
...
[zed_wrapper-2] 1643221443.075627434 [zed2.zed_node] [INFO] ***** STARTING CAMERA *****
[zed_wrapper-2] 1643221443.075653707 [zed2.zed_node] [INFO] SDK Version: 3.6.0 - Build 33396_48fd1d3b
[zed_wrapper-2] 1643221443.087219501 [zed2.zed_node] [INFO] *** CAMERA OPENING ***
...