Jetson Nano 는 JetPack5 지원대상에서 제외

1. 설치환경

   • Host: Macbook Monterey 12.6
   • Jetson Nano 4G
   • SD Card: Samsung MicroSD 64G

2. OS 설치

   1. Image 다운로드 - Ubuntu20.04 기반의 Jetson Nano (+ cuda, tensorflow, pytorch)

      GitHub - Qengineering/Jetson-Nano-Ubuntu-20-image: Jetson Nano with Ubuntu 20.04 image

   2. BlenaEtcher 다운로드 및 설치 (image burner)

      balenaEtcher - Flash OS images to SD cards & USB drives

      • 이미지 선택 → 타겟 선택→ Flash

        

   3. SD 카드 제거 → Jetson Nano 에 삽입 후 부팅

   4. 로그인, 환경 확인

      

   5. 원격 Desktop 설정

      • Screen Sharing 활성화

        

      • 방화벽 오픈 (remote desktop + ssh)

        sudo ufw allow 5900/tcp
        sudo ufw allow ssh
        sudo ufw status
        

        

      • encryption 옵션 해제

        • configuration editor(dconf-editor) 설치

        sudo apt-get install dconf-editor
        

        • dconf-editor 실행

          

        • require-encryption 옵션 비활성화

          

   6. 이후부터는 원격으로 진행

3. ROS2-Foxy 설치

   1. Locale 설정

      sudo apt update && sudo apt install locales
      sudo locale-gen en_US en_US.UTF-8
      sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
      export LANG=en_US.UTF-8
      

   2. ROS2 Repository 추가

      sudo apt update && sudo apt install curl gnupg2 lsb-release
      curl -s <https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc> | sudo apt-key add -
      sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] <http://packages.ros.org/ros2/ubuntu> $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
      

   3. ROS2 Package 설치

      sudo apt update
      sudo apt install ros-foxy-desktop
      echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
      . ~/.bashrc
      ros2 -h
      

   4. Utility Package 설치

      sudo apt install -y python3-pip
      pip3 install -U argcomplete
      sudo apt install python3-colcon-common-extensions
      

   5. 설치 확인 테스트 - 터미널 2 개 에서 각각 아래 명령 실행

      ros2 run demo_nodes_cpp talker
      
      ros2 run demo_nodes_py listener
      

      https://github.com/dusty-nv/jetbot_ros

4. Disk image 생성

   sudo parted -l
   Model: SD EC1S5 (sd/mmc)
   Disk /dev/mmcblk0: 64.1GB
   Sector size (logical/physical): 512B/512B
   Partition Table: gpt
   
   sudo -i
   
   sudo dd if=/dev/mmcblk0 | gzip > /media/jetson/jetsonnano.img.gz
   

   sudo apt install python3-catkin-tools
   
   # JetBot hw controllers
   pip3 install Adafruit-MotorHAT Adafruit-SSD1306 pyserial sparkfun-qwiic --verbose
   
   pip3 install jetson-utils
   
   source /opt/ros/foxy/setup.bash
   colcon build --symlink-install --event-handlers console_direct+