Nvidia Jetson Nano配置

系统安装

不说了，按照官网的来:https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#intro
最终系统是ubuntu18.04版

安装ROS

不说了，有详细介绍：https://blog.csdn.net/KIK9973/article/details/118755045

记录一种好用的rosdep update超时的解决方法：

sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

替换为以下内容

# os-specific listings first
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml osx

# generic
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
yaml https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
gbpdistro https://ghproxy.com/https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml fuerte

# newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being fetched from the rosdistro index.yaml instead

网卡（绿联AC650）

由于Nvidia Jetson Nano没有自带网卡，自己购买了绿联AC650。这个网卡在ubuntu下需要自己去官网下载驱动安装
1.查看系统版本
打开终端，查看系统内核版本 uname -a
2.开始操作
解压下载的驱动程序，进入driver文件夹后

sudo make
sudo insmod 8821cu.ko

if error:
arch/aarch64/Makefile: No such file or directory

cd  /usr/src/linux-headers-----/kerner---/arch
sudo cp -r arm64/ aarch64

3.将驱动程序放入内核(根据自己系统的文件路径进行修改）
sudo cp 8821cu.ko /lib/modules/5.4.50-amd64-desktop/kernel/drivers/usb/usbip/
4.切换模式并加入开机自动切换

sudo usb_modeswitch -KW -v 0bda -p 1a2b

sudo gedit /lib/udev/rules.d/40-usb_modeswitch.rules
# Realtek 8821CU Wifi AC USB
ATTR{idVendor}=="0bda", ATTR{idProduct}=="1a2b", RUN+="/usr/sbin/usb_modeswitch -K -v 0bda -p 1a2b"

5.开启热点

让jetson nano开启热点来让其他设备连接时，选择的模式是hostpot

远程桌面（Vino)

从nvidia官网安装的系统一开始没有远程桌面。
1.安装vino

sudo apt-get update
sudo apt-get install vino

2.Enable VNC 服务

sudo ln -s ../vino-server.service   /usr/lib/systemd/user/graphical-session.target.wants

3.配置VNC server

gsettings set org.gnome.Vino prompt-enabled false
gsettings set org.gnome.Vino require-encryption false

4.修改org.gnome

sudo gedit /usr/share/glib-2.0/schemas/org.gnome.Vino.gschema.xml

在<schema id='org.gnome.Vino' path='/org/gnome/desktop/remote-access/'>后加入如下代码并保存

<key name='enabled' type='b'>
    <summary>Enable remote access to the desktop</summary>
    <description>
        If true, allows remote access to the desktop via the RFB
        protocol. Users on remote machines may then connect to the
        desktop using a VNC viewer.
    </description>
    <default>false</default>
    </key>

5.编译并设置VNC

sudo glib-compile-schemas /usr/share/glib-2.0/schemas
gsettings set org.gnome.Vino authentication-methods "['vnc']"
gsettings set org.gnome.Vino vnc-password $(echo -n 'thepassword'|base64)

6.开机自启动Vino

gsettings set org.gnome.Vino enabled true
mkdir -p ~/.config/autostart
sudo gedit  ~/.config/autostart/vino-server.desktop

加入如下内容并保存

[Desktop Entry]
Type=Application
Name=Vino VNC server
Exec=/usr/lib/vino/vino-server
NoDisplay=true

安装Tensorflow

不说了，按照这个博客来吧https://blog.csdn.net/zhongzhehua/article/details/114374998
遇到的问题可能有：Complete output (2535 lines): WARNING: The directory '/home/xxxx/.cache/pip' or its parent dire ...............

sudo chown -R root /home/$USERNAME/.cache/pip/

还有command: /usr/bin/python3 -u -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'/tmp/..........................

pip install --upgrade setuptools