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Getting the ADAPT software stack

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Below is a step-by-step explanation if you want to follow along or you can run this as a single script from here.

  1. Install OS prerequisites:

    sudo apt update
    sudo apt install dirmngr gnupg2 python-catkin-tools python-pip python-tk python-rosdep python-rosinstall \
        python-vcstools ros-melodic-ros-core=1.4.1-0* ros-melodic-ros-base=1.4.1-0* ros-melodic-perception=1.4.1-0* \
        ros-melodic-rqt-image-view libgl1-mesa-glx libqt5x11extras5 gdal-bin python-gdal python-ujson \
        cuda-toolkit-10-2 cuda-core-10-2 libcudnn8-dev tensorrt tmux libhdf5-serial-dev hdf5-tools libhdf5-dev \
        zlib1g-dev zip libjpeg8-dev liblapack-dev libblas-dev gfortran gpsd chrony pps-tools linuxptp \
        nvidia-tensorrt python-libnvinfer-dev libopenblas-base libopenmpi-dev

  2. Install python prerequisites:

    # NOTE: install these dependencies as root so the systemd process can find them instead of a user account
    sudo pip install anaconda ipython ipykernel matplotlib spyder-kernels protobuf \
        PyGeodesy shapely pyshp simplekml exifread future yacs scipy psutil pycuda
    sudo pip install Pillow --upgrade

  3. Get this version of pytorch for tegra from NVIDIA:

    cd ~
    wget -O torch-1.4.0-cp27-cp27mu-linux_aarch64.whl
    sudo pip install future torch-1.4.0-cp27-cp27mu-linux_aarch64.whl

  4. Setup torchvision

    cd ~
    git clone
    cd vision
    git fetch origin v0.5.0
    git reset --hard FETCH_HEAD
    sudo python install

  5. Setup a specific version of torch2trt:

    cd ~
    git clone
    cd torch2trt
    git fetch origin b0cc8e77a0fbd61e96b971a66bbc11326f77c6b5
    git reset --hard FETCH_HEAD
    sudo python install --plugins

  6. Run the rc_genicam_api install

    cd ~
    git clone
    cd rc_genicam_api
    mkdir build && cd build
    cmake -DCMAKE_INSTALL_PREFIX=/usr ..
    make && make package
    sudo dpkg -i rc-genicam-api*.deb

  7. Setup the adapt ros workspace

    cd ~
    git clone
    cd adapt_ros_ws
    git submodule init
    git submodule update
    catkin build --force-cmake -DSETUPTOOLS_DEB_LAYOUT=OFF
    # get the model
    cd ~/adapt_ros_ws/models


Clean up some disk space:

sudo apt-get remove --purge libreoffice*
sudo apt-get autoclean
sudo apt-get autoremove

jtop for system stats:

pip install -U jetson-stats
# run jtop


git clone
cd jetsonUtilities

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