1、官网安装SDK Manager
(1)官网下载:SDK Manger下载网址
(2)安装指令:sudo dpkg -i 安装包路径;
(3)该过程可能会遇到缺少“libgconf-2-4”报错,解决办法是需要先升级和安装部分库:
sudo apt --fix-broken install
sudo apt-get upgrade
sudo apt update
(4)再次安装即可;
2、打开SDKManager
(1)选择Target Hardware – Jstson Orin
(2)取消勾选Host Machin,勾选Target Harware、TARGET OPERARTING SYSTEM、ADDITIONAL SDKS
(3)coutinue to step 02;
(4)创建相关文件夹并开始下载各种安装包
(5)勾选“I accept the terms and …”,不勾选“Jetson Linux”(不需要刷机)、“Download now…”;
(6)coutinue to step 03;
(7)skip 弹出的flash刷机页面;
(8)在接下来弹出的页面Connection中选择Ethernet,接着在IPv4输入orin的IP地址,最后输入Orin的Username、Password,点击Install;
(9)点击Finish,完成安装;若中途发生报错,在Orin终端中输入 nvcc -V 查看cuda是否安装,已经安装成功即可进行下一步;
3、安装Anaconda
(1)进入https://www.anaconda.com/products/distribution#Downloads;
(2)下载64-Bit (AWS Graviton2 / ARM64) Installer(注意下载ARM64版本);
(3)终端输入 bash Anaconda3-XXXX.XX-Linux-x86_64.sh;
(4)根据提示不断输入yes,按回车,完成安装;
(5)创建conda环境,conda create -n torch12 python=3.8;
4、安装Pytorch和TorchVision
#参考网址:
查看Jetson相关信息:http://www.gpus.cn/gpus_list_page_techno_support_content?id=39
下载PyTorch安装包:https://elinux.org/Jetson_Zoo#PyTorch_.28Caffe2.29
PyTorch官网:https://github.com/pytorch/pytorch
TorchVision官网:https://github.com/pytorch/vision
下载TorchVision安装包:https://download.pytorch.org/whl/torch_stable.html
#根据Jetson版本下载安装包,例如JetPack 5.0 -> PyTorch v1.12.0 -> TorchVision v0.13.0
#安装
(1)进入创建好的conda环境:
conda activate torch12;
(2)安装依赖、pip、torch:
sudo apt-get install libopenblas-base libopenmpi-dev
sudo apt-get install python3-pip
pip3 install Cython
pip3 install opencv-python
pip3 install tqdm
pip3 install rospkg
sudo apt install ros-noetic-usb-cam
pip3 install numpy torch-1.12.0a0+2c916ef.nv22.3-cp38-cp38-linux_aarch64.whl
pip3 install numpy torchvision-0.13.0-cp38-cp38-manylinux2014_aarch64.whl
#测试安装是否成功
python3
import torch # no error appears
print(torch.__version__) # get 1.12.0
print(torch.cuda.is_available()) # get Ture
import torchvision # no error appears
5、安装ROS
一行代码安装指令:
wget http://fishros.com/install -O fishros && . fishros
参考网址:鱼香ROS