Sets up TX1/TX2 w/ PyTorch Inference Environment

setup_tx1.sh

# Run this after a fresh flashing of JetPack 3.0 on a Jetson TX1
# NEED TO BE LOGGED INTO TO nvidia USER ACCOUNT WITH PASSWORD OF: nvidia

sudo c_rehash /etc/ssl/certs
sudo dhclient wlan0

############################# Install Karl's Repository #############################
sudo apt-get --assume-yes install git
git clone https://github.com/karlzipser/kzpy3.2.git kzpy3

############################# Install PyTorch w/ CUDA support ############################# 
sudo apt-get --assume-yes install cmake
sudo apt-get --assume-yes install python-pip

# upgrade pip
sudo -H pip install -U pip
sudo -H pip --version
# pip 9.0.1 from /home/ubuntu/.local/lib/python2.7/site-packages (python 2.7)

# clone pyTorch repo
git clone http://github.com/pytorch/pytorch
cd pytorch

sudo apt-get --assume-yes install python-scipy
sudo -H pip install -U numpy
sudo -H pip install -U setuptools
sudo -H pip install -r requirements.txt
sudo python setup.py install  # takes 1-2 hours to install from source

# Verify CUDA (from python interactive terminal)
# import torch
# print(torch.cuda.is_available())
# a = torch.cuda.FloatTensor(2)
# print(a)
# b = torch.randn(2).cuda()
# print(b)
# c = a + b
# print(c)

############################# Install and Setup ROS  ############################# 

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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get --assume-yes update
sudo apt-get --assume-yes install ros-kinetic-desktop
sudo apt-get --assume-yes install python-rosdep
sudo c_rehash /etc/ssl/certs
sudo rosdep init
rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

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

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

############################# Install ZED USB drivers #############################
cd ~
wget https://www.stereolabs.com/developers/downloads/ZED_SDK_Linux_JTX1_v2.0.1.run
chmod +x ZED_SDK_Linux_JTX2_v2.0.1.run
./ZED_SDK_Linux_JTX2_v2.0.1.run
# test ZED with /usr/local/zed/tools/ZED\ Explorer

############################# Install ZED ROS Wrapper ############################# 

sudo apt-get --assume-yes install libpcl1.7
sudo apt-get --assume-yes install ros-kinetic-pcl-ros
sudo apt-get --assume-yes install ros-kinetic-image-view

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros-wrapper.git
cd ~/catkin_ws
catkin_make

# To test if the installation succeded run:
# roslaunch zed_wrapper zed.launch
# rosrun image_view image_view image:=/camera/right/image_rect_color

############################# Install PyTorch Source Code ############################# 

cd ~/catkin_ws/src
git clone https://github.com/sauhaardac/pytorch_inference.git bair_car
cd ..
catkin_make
source ~/.bashrc

# To test if the installation succeded run:
# roslaunch bair_car bair_car.launch use_zed:=true

############################# Install TMUX  ############################# 

# Not mandatory, but installing tmux allows you to run multiple terminal sessions simultaneously and attach and detach from them remotely. (This is especially useful over ssh)
sudo apt-get --assume-yes install tmux
# Tutorial on use available at https://gist.github.com/MohamedAlaa/2961058

############################# Install Shortcuts  ##########################
# Generate Random Car Name
sudo apt-get --assume-yes install gpw
comp_name=`gpw 1 5`

echo 'export PYTHONPATH=~:$PYTHONPATH' >> ~/.bashrc
echo 'export PATH=~/kzpy3/scripts:$PATH' >> ~/.bashrc
echo 'export COMPUTER_NAME="Mr. $comp_name"' >> ~/.bashrc

echo "alias rhz='rostopic hz /bair_car/zed/left/image_rect_color'" >> ~/.bashrc
echo "alias rls='ls -al /media/ubuntu/rosbags'" >> ~/.bashrc
echo "alias rrm='rm catkin_ws/src/bair_car/rosbags/*'" >> ~/.bashrc
echo "alias rlog='rm ~/.ros/log/*'" >> ~/.bashrc
echo "alias rla='roslaunch bair_car bair_car.launch use_zed:=true record:=true'" >> ~/.bashrc
echo "alias rlac='roslaunch bair_car bair_car.launch use_zed:=true record:=true caffe:=true'" >> ~/.bashrc
echo "alias rgy='rostopic echo /bair_car/gyro'" >> ~/.bashrc
echo "alias rgp='rostopic echo /bair_car/gps'" >> ~/.bashrc
echo "alias rac='rostopic echo /bair_car/acc'" >> ~/.bashrc
echo "alias rst='rostopic echo /bair_car/steer'" >> ~/.bashrc
echo "alias rmo='rostopic echo /bair_car/motor'" >> ~/.bashrc
echo "alias ren='rostopic echo /bair_car/encoder'" >> ~/.bashrc
echo "alias rcd='cd /media/ubuntu/rosbags'" >> ~/.bashrc
echo "alias ssd='sudo shutdown -h now'" >> ~/.bashrc
echo "alias rcn='echo \$COMPUTER_NAME'" >> ~/.bashrc
echo "alias riv='rosrun image_view image_view image:=/bair_car/zed/right/image_rect_color'" >> ~/.bashrc

setup_tx2.sh

# Run this after a fresh flashing of JetPack 3.0 on a Jetson TX2
# NEED TO BE LOGGED INTO TO nvidia USER ACCOUNT WITH PASSWORD OF: nvidia

sudo c_rehash /etc/ssl/certs
sudo dhclient wlan0

############################# Install Karl's Repository #############################
sudo apt-get --assume-yes install git
git clone https://github.com/karlzipser/kzpy3.2.git kzpy3

############################# Kernel Surgery to Enable USB ACM #############################

# # Download Kernel from NVIDIA
# cd ~
# mkdir l4t-kernel-surgery
# mkdir kernel-stuff
# cd kernel-stuff
# wget http://developer.nvidia.com/embedded/dlc/l4t-sources-27-1 -O source.tbz2
# tar xjf source.tbz2
# tar xjf kernel_src.tbz2 -C ~/l4t-kernel-surgery/
# cd ..
# rm -rf kernel-stuff

# # Kernel Surgery
# cd ~/l4t-kernel-surgery/kernel/kernel-4.4
# zcat /proc/config.gz > .config
# echo "CONFIG_USB_ACM=m" >> .config
# make clean
# make prepare
# make modules_prepare
# make M=drivers/usb/class
# sudo cp drivers/usb/class/cdc-acm.ko /lib/modules/`uname -r`/kernel/
# sudo depmod -a

# # Verify Surgery
# sudo modprobe cdc-acm
# ls /dev/ttyACM*  # Should see ttyACM0 or 1 or something if arduino is plugged in

############################# Install PyTorch w/ CUDA support ############################# 
sudo apt-get --assume-yes install cmake
sudo apt-get --assume-yes install python-pip

# upgrade pip
sudo -H pip install -U pip
sudo -H pip --version
# pip 9.0.1 from /home/ubuntu/.local/lib/python2.7/site-packages (python 2.7)

# clone pyTorch repo
git clone http://github.com/pytorch/pytorch
cd pytorch

sudo apt-get --assume-yes install python-scipy
sudo -H pip install -U numpy
sudo -H pip install -U setuptools
sudo -H pip install -r requirements.txt
sudo python setup.py install  # takes 1-2 hours to install from source

# Verify CUDA (from python interactive terminal)
# import torch
# print(torch.cuda.is_available())
# a = torch.cuda.FloatTensor(2)
# print(a)
# b = torch.randn(2).cuda()
# print(b)
# c = a + b
# print(c)

############################# Install and Setup ROS  ############################# 

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://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get --assume-yes update
sudo apt-get --assume-yes install ros-kinetic-desktop
sudo apt-get --assume-yes install python-rosdep
sudo c_rehash /etc/ssl/certs
sudo rosdep init
rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

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

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

############################# Install ZED USB drivers ############################# 
cd ~
wget https://www.stereolabs.com/developers/downloads/ZED_SDK_Linux_JTX2_v2.0.1.run
chmod +x ZED_SDK_Linux_JTX2_v2.0.1.run
./ZED_SDK_Linux_JTX2_v2.0.1.run
# test ZED with /usr/local/zed/tools/ZED\ Explorer

############################# Install ZED ROS Wrapper ############################# 

sudo apt-get --assume-yes install libpcl1.7
sudo apt-get --assume-yes install ros-kinetic-pcl-ros
sudo apt-get --assume-yes install ros-kinetic-image-view

cd ~/catkin_ws/src
git clone https://github.com/stereolabs/zed-ros-wrapper.git
cd ~/catkin_ws
catkin_make

# To test if the installation succeded run:
# roslaunch zed_wrapper zed.launch
# rosrun image_view image_view image:=/camera/right/image_rect_color

############################# Install PyTorch Source Code ############################# 

cd ~/catkin_ws/src
git clone https://github.com/sauhaardac/pytorch_inference.git bair_car
cd ..
catkin_make
source ~/.bashrc

# To test if the installation succeded run:
# roslaunch bair_car bair_car.launch use_zed:=true

############################# Install TMUX  ############################# 

# Not mandatory, but installing tmux allows you to run multiple terminal sessions simultaneously and attach and detach from them remotely. (This is especially useful over ssh)
sudo apt-get --assume-yes install tmux
# Tutorial on use available at https://gist.github.com/MohamedAlaa/2961058

############################# Install Shortcuts  ##########################
# Generate Random Car Name
sudo apt-get --assume-yes install gpw
comp_name=`gpw 1 5`

echo 'export PYTHONPATH=~:$PYTHONPATH' >> ~/.bashrc
echo 'export PATH=~/kzpy3/scripts:$PATH' >> ~/.bashrc
echo 'export COMPUTER_NAME="Mr. $comp_name"' >> ~/.bashrc

echo "alias rhz='rostopic hz /bair_car/zed/left/image_rect_color'" >> ~/.bashrc
echo "alias rls='ls -al /media/ubuntu/rosbags'" >> ~/.bashrc
echo "alias rrm='rm catkin_ws/src/bair_car/rosbags/*'" >> ~/.bashrc
echo "alias rlog='rm ~/.ros/log/*'" >> ~/.bashrc
echo "alias rla='roslaunch bair_car bair_car.launch use_zed:=true record:=true'" >> ~/.bashrc
echo "alias rlac='roslaunch bair_car bair_car.launch use_zed:=true record:=true caffe:=true'" >> ~/.bashrc
echo "alias rgy='rostopic echo /bair_car/gyro'" >> ~/.bashrc
echo "alias rgp='rostopic echo /bair_car/gps'" >> ~/.bashrc
echo "alias rac='rostopic echo /bair_car/acc'" >> ~/.bashrc
echo "alias rst='rostopic echo /bair_car/steer'" >> ~/.bashrc
echo "alias rmo='rostopic echo /bair_car/motor'" >> ~/.bashrc
echo "alias ren='rostopic echo /bair_car/encoder'" >> ~/.bashrc
echo "alias rcd='cd /media/ubuntu/rosbags'" >> ~/.bashrc
echo "alias ssd='sudo shutdown -h now'" >> ~/.bashrc
echo "alias rcn='echo \$COMPUTER_NAME'" >> ~/.bashrc
echo "alias riv='rosrun image_view image_view image:=/bair_car/zed/right/image_rect_color'" >> ~/.bashrc