Quick Start Guide

First Time Setup

This section assumes that you are installing Nova Carter Init on a freshly flashed Jetson AGX Orin.

1. Download and install the NGC client using the following commands:

   wget --content-disposition https://ngc.nvidia.com/downloads/ngccli_arm64.zip && unzip ngccli_arm64.zip && chmod u+x ngc-cli/ngc
   s="export PATH=\"\$PATH:$(pwd)/ngc-cli\""; f="$HOME/.bashrc"; grep -qxF "$s" $f || echo "$s" | tee -a $f && source $f
   

2. Download Nova Carter Init from NGC using the following command:

   ngc registry resource download-version "nvidia/isaac/nova_carter_init"
   

3. Once the nova-carter-init Debian package is downloaded, change directory to the download folder and install it:

   cd $(ls -td nova_carter_init_v* | head -1)
   sudo apt install ./nova-carter-init_*_arm64.deb
   

   a. During install you will see a prompt to specify the serial number:

   Reading package lists... Done
   Building dependency tree
   Reading state information... Done
   The following NEW packages will be installed:
   nova-carter-init
   ...
   Setting up serial number...
   Would you like to use defaults for Nova Carter serial number? This is recommended if purchased from Segway Robotics. (y/n)
   

   b. Respond with "y" when this prompt appears. After, a new prompt will appear that asks for the index of the robot. This index is used to make each Nova Carter unique, it is recommended to increment from 1. For example, for your first Nova Carter respond "1", the second Nova Carter respond "2", etc. .

   Setting up serial number...
   Would you like to use defaults for Nova Carter serial number? This is recommended if purchased from Segway Robotics. (y/n)y
   What's the robot index? This will be used to track your robot with a unique ID. Must be 6 or less chars.
   Index: 1
   

4. Reboot the robot after installation by pressing the power button or running:

   sudo reboot
   

5. Log back into the robot and run the preflight checker from any terminal (all tests should pass):

   nova_preflight_checker