JetsonNano初始化命令整合

前言

最近因为项目需要，每次更新代码都要重新烧录系统，每次初始化都要打开好几个网页来复制命令实在太烦人了，所以将代码整合起来记录一下。

目录

1、JetsonNano 风扇自启动
2、JetsonNano 换源
3、JetsonNano 安装 VNC
4、JetsonNano 安装测试DeepStream
5、JetsonNano 安装Pytorch
6、JetsonNano 安装 torchvision
7、JetsonNano pip换源
8、JetsonNane 安装Ros
9、JetsonNano 安装 jetson-stats 状态查看器

内容

1、JetsonNano风扇自启动

cd /etc
sudo touch rc.local
sudo vim rc.local

#!/bin/bash
sleep 10
sudo /usr/bin/jetson_clocks
sudo sh -c 'echo 255 > /sys/devices/pwm-fan/target_pwm'

sudo chmod 755 /etc/rc.local
sudo reboot

2、JetsonNano换源

# 为防止误操作后无法恢复，先备份原文件sources.list
sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak    
# 新建新的源文件source.list
sudo vim /etc/apt/sources.list

# 删掉原来的，粘贴下面的
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe

sudo apt-get update
sudo apt-get upgrade

3、JetsonNano 安装 VNC

（之前有一段时间出现VNC内核与Jetsonnano不符的情况，不确定还能不能用）

sudo apt install vino
sudo ln -s ../vino-server.service /usr/lib/systemd/user/graphical-session.target.wants
gsettings set org.gnome.Vino prompt-enabled false
gsettings set org.gnome.Vino require-encryption false
sudo vim /usr/share/glib-2.0/schemas/org.gnome.Vino.gschema.xml

# 文件最后添加
<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>

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 '你自己的密码'|base64)
sudo reboot

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

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

4、JetsonNano 安装测试DeepStream

sudo apt install \
libssl1.0.0 \
libgstreamer1.0-0 \
gstreamer1.0-tools \
gstreamer1.0-plugins-good \
gstreamer1.0-plugins-bad \
gstreamer1.0-plugins-ugly \
gstreamer1.0-libav \
libgstrtspserver-1.0-0 \
libjansson4=2.11-1

去官网下载deepstream，百度直接搜就行，下载好后文件名为：deepstream_sdk_v5.1.0_jetson.tbz2

下载5.1版本的DeepStream需要登陆一下

sudo tar -xvf deepstream_sdk_v5.1.0_jetson.tbz2 -C /
cd /opt/nvidia/deepstream/deepstream-5.1
sudo ./install.sh
sudo ldconfig

测试

cd /opt/nvidia/deepstream/deepstream-5.1/sources/objectDetector_Yolo
sudo CUDA_VER=10.2 make -C nvdsinfer_custom_impl_Yolo
./prebuild.sh
deepstream-app -c deepstream_app_config_yoloV3_tiny.txt

5、JetsonNano 安装Pytorch

提前下好 torch-1.8.0-cp36-cp36m-linux_aarch64.whl

sudo apt-get install python3-pip libopenblas-base libopenmpi-dev 
pip3 install Cython
pip3 install numpy torch-1.8.0-cp36-cp36m-linux_aarch64.whl

6、JetsonNano 安装 torchvision

编译的时间可能有点长，耐心等待即可

sudo apt-get install libjpeg-dev zlib1g-dev libpython3-dev libavcodec-dev libavformat-dev libswscale-dev
git clone --branch v0.9.0 https://github.com/pytorch/vision torchvision 
cd torchvision
export BUILD_VERSION=0.9.0
python3 setup.py install --user
pip3 install pillow

7、JetsonNano pip换源

mkdir ~/.pip
vim ~/.pip/pip.conf

[global]
index-url = https://pypi.tuna.tsinghua.edu.cn/simple
[install]
trusted-host = https://pypi.tuna.tsinghua.edu.cn

8、JetsonNane 安装Ros

这一步走了很多弯路，主要原因是ros初始化：
sudo rosdep init
rosdep update
这两句报错。但是实际上我们在
sudo apt install ros-melodic-desktop-full
之后所有东西都已经是最新的了，因此没有必要再更新一遍（2021/07/13记录）

sudo sh -c echo deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main  /etc/apt/sources.list.d/ros-latest.list
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
echo source /opt/ros/melodic/setup.bash  ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

编译工作空间

cd ~/catkin_ws/
catkin_make

设置环境变量

source devel/setup.bash

检查环境变量

echo $ROS_PACKAGE_PATH

9、JetsonNano 安装 jetson-stats 状态查看器

sudo -H pip3 install jetson-stats
sudo -H pip3 install -U jetson-states

查看硬件CPU、RAM、GPU的状态等

sudo jtop

查看 JetsonNano型号

jetson-releas