Welcome to Transbot SE repository

1.Using your own Jetson board,Transbot-SE cannot start normally

Using your own Jetson board,Transbot-SE cannot start normally

If using your own Jetson board, Yahboom Transbot SE cannot start normally. Please read the following tutorial carefully.

If using your own Jetson board, Yahboom Transbot SE cannot start normally. Please read the following tutorial carefully.1. Background introduction2. Jetson series board and boot media description3. Check the JetPack version on your own Jetson series boardCase-1: You can boot your Jetson board normally, and enter the command terminal normally.Case-2: There are no system files in your own U disk or SSD. Currently, you cannot start the Jetson board normally and enter the command terminal.4. Jetson Nano board startup stepsCase-1: The Jetpack version of your Jetson board is the same as the Jetpack version of Yahboom robot car.Case-2: The Jetpack version for your Jetson board is not the same as the Jetpack version for Yahboom robot car.Case-3: You can't check the JetPack version on your own Jetson series boardWrite official system image (SDK)1. Preparation2.Format TF card2.1 Delete all partitions2.2 Create a new partition2.3 Install SD card3. Virtual Machine3.1 Virtual Machine capacity expansion3.2 Allocate space3.3 Connect virtual machine 4. Write system by SDK Manager4.1 Select Jetson board model4.2 Options5. Start up Jetson NANO boardWrite EMMC systemWrite EMMC boot1. Make Jetson Nano connect to virtual machine2.Start write boot fileNote

1. Background introduction

Note: In order to ensure that Transbot SE car can start normally, users need to ensure that the JetPack version in their Jetson board system is consistent with the Jetpack version in the Transbot SE car system provided by Yahboom.

If you did not purchase Yahboom's Jetson board, when using other brands of Jetson board, maybe you will find that Transbot SE cannot start normally.

The following tutorial provides a detailed solution to this problem.

2. Jetson series board and boot media description

About Jetson series board:
- Jetson Nano board: Use a U disk as the boot medium.
- Jetson Orin Nano/Jetson Orin NX board: Use a SSD as boot media.
About Jetpack version in the boot media system:
- The U disk(For Jetson NANO) included in the Transbot SE robot kit has been written with a system image file dedicated to the Transbot SE car. This system image file include JetPack 4.5.1

3. Check the JetPack version on your own Jetson series board

Your Jetson motherboard currently has two cases.

Case-1: You can boot your Jetson board normally, and enter the command terminal normally.

Start your Jetson board, enter the operating system and command terminal.
Open the terminal, enter the command jtop and press Enter, jtop will display a real-time updated system status page.
After the jtop page is displayed, click the menu page 6 INFO with the mouse.
At this time, the page will display the version information of components such as Jetpack, CUDA, cuDNN, OpenCV, TensorRT, etc.

Take Jetson Nano as an example, as shown below. My current Jetpack system version is 4.6

If the jtop tool is not installed in the system, you can refer to the following command to install it.


# Install pip3
sudo apt-get update
sudo apt install python3-pip
# Install jtop
sudo -H pip3 install -U jetson-stats
# Run jtop service
sudo systemctl restart jetson_stats.service
# Restart the system
reboot

Case-2: There are no system files in your own U disk or SSD. Currently, you cannot start the Jetson board normally and enter the command terminal.

Please read following 【4.3 Sections】

4. Jetson Nano board startup steps

Case-1: The Jetpack version of your Jetson board is the same as the Jetpack version of Yahboom robot car.

NVIDAI officail Jetson NANO board: Remove the TF card on the core board, directly plug in the U disk provided by Yahboom, and turn on the power switch to start robot car normally.
According to the test, if your Jetson NANO board contains jetpack4.5.1, directly plug in the U disk provided by Yahboom, robot car can be started normally.
Unofficial Jetson NANO board(with EMMC): Please refer to the tutorial 《Write EMMC Boot》, follow the tutorial to write the universal boot to the Jetson NANO SUB board, then plug in the U disk, robot car can start normally.

Case-2: The Jetpack version for your Jetson board is not the same as the Jetpack version for Yahboom robot car.

NVIDAI officail Jetson NANO board: Please refer to the tutorial 《Write official system image (SDK)》to write jetpack 4.5.1 to the Jeston NANO board.
Then, remove the TF card on the core board, directly plug in the U disk provided by Yahboom, and turn on the power switch to start robot car normally.
Unofficial Jetson NANO board(with EMMC): Please refer to the tutorial 《Write EMMC Boot》to write the universal boot to the Jetson NANO SUB board, then plug in the U disk, robot car can start normally.

Case-3: You can't check the JetPack version on your own Jetson series board

NVIDAI officail Jetson NANO board: Please refer to the tutorial 《Write official system image (SDK)》to write jetpack 4.5.1 to the Jeston NANO board.
Then, remove the TF card on the core board, directly plug in the U disk provided by Yahboom, and turn on the power switch to start robot car normally.
Unofficial Jetson NANO board(with EMMC): Please refer to the tutorial 《Write EMMC system》to write jetpack 4.5.1 to the Jeston NANO board.
Then, please refer to the tutorial 《Write EMMC boot》to write the universal boot to the Jetson NANO SUB board.
Next, plug in the U disk, robot car can start normally.

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Write official system image (SDK)

1. Preparation

PC Software

Ubuntu 18.04 system


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Yahboom has provided Ubuntu 18.04 virtual machine images and has installed SDKmanager. Users can download the virtual machine files directly on Yahboom's website.
Use VMware software to open the virtual machine.

Virtual machine username: yahboom
Password: yahboom

You can also install SDKmanager on your own Ubuntu system according to the following method.

1)Open NVIDIA's jetpack download website：SDK Manager | NVIDIA Developer

2)Register/log in to NVIDIA account.

3)In Ubuntu18.04 virtual machine system, click to download SDK Manager.

Input following command to enter the path of the .deb file you just downloaded.

(For example, i download it to the Downloads directory here.)


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cd Downloads/

Input following command to install SDK Manager.


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sudo dpkg -i sdkmanager_2.2.0-12021_amd64.deb

Hardware

Card reader and TF card: TF card needs to be formatted before writing into the system.

Jumper cap: Short-circuit FC REC and GND pins (enter flash mode), short-circuit DC enable (J48).

DC power adapter: Use jumper cap to short-circuit DC enable (J48) when using this power supply method.

MicroUSB data cable: Used to connect to a computer to transfer data.

2.Format TF card

It is recommended to use DiskGenius software to directly format the disk partition of the SD card and generate an exfat partition.


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Only show one way to format the partition. You can also use other software.
The computer's built-in disk management can also perform the corresponding operation.

2.1 Delete all partitions

Download DiskGenius software link: https://www.diskgenius.com/download.php

For this operation, you must select the disk corresponding to the SD card. If you select the wrong drive letter, data on other disks will be lost.

Click "Confirm" to change.

2.2 Create a new partition

After the above operations, the U disk will show all the space on your computer.

2.3 Install SD card

Insert the formatted SD card into the TF card slot on the Jetson NANO board.

3. Virtual Machine

3.1 Virtual Machine capacity expansion

The virtual machine image we provide needs to be expanded to 100G.


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If the capacity is not expanded, writing to the system may fail!

3.2 Allocate space

Open the "GParted" software in system.

If you use your own Ubuntu system. Input following command to install "GParted" tool


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sudo apt install gparted

As shown below. Right-click and choose "Resize/Move"

Then, system will display the interface shown below. Drag the border of the movable space to the far right.

After completing the above operations, close the "GParted" tool.

3.3 Connect virtual machine

After using the DC power adapter to power the device, connect the microUSB cable to the computer.


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If the indicator light on the Jetson NANO board does not light up when DC power is supplied, you can try plugging and unplugging the DC port (number 4 in the figure below).

After connecting to the computer, a pop-up window "New USB device detected" will appear on the computer interface.

Click the "Connect to virtual machine" option to connect.

Here is another way to connect a USB device to a virtual machine:

4. Write system by SDK Manager

Open the system "SDK Manager" software and log in to your account.


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# Since the new version of SDKmanager cannot select the older version of jetpack, we can use the following command to start the old version of SDKmanager and select the required jetpack version   
sdkmanager --archived-versions

If when logging in to your account, the virtual machine system pops up a web page showing an invalid request. As shown below.

Solution: After updating the software version as shown in the figure below, log in to the account again.

4.1 Select Jetson board model

4.2 Options

STEP1

Select the JetPack version. Here we take version 4.6.3 as an example.

Here, you need choose JetsPack 4.5.1 for your Transbot SE.

STEP2

As shown in the figure below, select the corresponding option.

You need to enter the password to confirm, and follow the system prompts to complete it.


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 Part13.4.1-17