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 https://nvidia.box.com/shared/static/yhlmaie35hu8jv2xzvtxsh0rrpcu97yj.whl -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 https://github.com/pytorch/vision
   cd vision
   git fetch origin v0.5.0
   git reset --hard FETCH_HEAD
   sudo python setup.py install
   

5. Setup a specific version of torch2trt:

   cd ~
   git clone https://github.com/NVIDIA-AI-IOT/torch2trt.git
   cd torch2trt
   git fetch origin b0cc8e77a0fbd61e96b971a66bbc11326f77c6b5
   git reset --hard FETCH_HEAD
   sudo python setup.py install --plugins
   

6. Run the rc_genicam_api install

   cd ~
   git clone https://github.com/roboception/rc_genicam_api.git
   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 https://gitlab.kitware.com/adapt/adapt_ros_ws.git
   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
   ./get_sim_model.sh
   

OPTIONAL items

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

jetsonUtilities:

git clone https://github.com/jetsonhacks/jetsonUtilities
cd jetsonUtilities
python jetsonInfo.py

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