nanosaur
NanoSaur is a little tracked robot ROS2 enabled, made for an NVIDIA Jetson Nano
- Website: nanosaur.ai
- Do you need an help? Discord
- For technical details follow wiki
- Something wrong? Open an issue
Install nanosaur system
git clone https://github.com/rnanosaur/nanosaur.git
sudo bash nanosaur/nanosaur_bringup/scripts/install.sh
After the installation please reboot the jetson board
Run nanosaur
This script start the docker-compose
cd nanosaur/
docker-compose up -d
Develop
This following part is to develop with nanosaur
Build Docker
Make ROS2 foxy jetson-container
git clone --branch patch-1 https://github.com/rbonghi/jetson-containers.git
./jetson-containers/scripts/docker_build_ros.sh foxy
After foxy build, build the nanosaur docker for jetson
cd nanosaur
docker build -f Dockerfile.dev -t nanosaur:l4t-r32.4.4 .
Run docker container
https://answers.ros.org/question/358453/ros2-docker-multiple-hosts/
docker run --runtime nvidia -it --rm --network host --device /dev/i2c-1 -v /tmp/argus_socket:/tmp/argus_socket -v $HOME/nanosaur:/opt/ros_ws/src/nanosaur nanosaur:l4t-r32.4.4 bash
Detect I2C devices
Install I2C tools and detect all devices
sudo apt-get install -y python-smbus
sudo apt-get install -y i2c-tools
sudo i2cdetect -y -r 1
Devices:
- 3C left Display
- 3D right display
- 60 motor driver
## Camera fail
If the camera fail do:
sudo systemctl restart nvargus-daemon
And rerun the docker container
