Nova Orin

Nova Orin Init is a Debian package that configures the Nova sensor suite on a Jetson AGX Orin. Any subset of Nova is also configurable.

All guides below assume that they are run on a Jetson AGX Orin.

NGC Client

Nova Orin Init can be downloaded with the NGC client. Follow the steps below to install it:

1. Check if the client is installed.

   which ngc
   

2. If it's not installed, 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
   

   NOTE: Official documentation can be found at https://ngc.nvidia.com/setup/installers/cli under "ARM64 Linux"; however, the commands listed there should not be used in this case.

3. (Optional) Configure the NGC client to give access to Isaac resources. You will need an API key for NGC. If the API key is not already generated follow these steps.

   ngc config set
   

Installation

Follow these steps to download and install Nova Orin Init (requires NGC Client):

1. Download Nova Orin Init from NGC using the following command:

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

2. Untar its contents:

   cd $(ls -td nova_orin_v* | head -1) && tar -xvf nova-orin.tar.gz
   

3. Write a configuration YAML for Nova Orin. This YAML will specify the sensors you want enabled. Examples are included in the download:

   ls examples/
   

   Look here for how to write a custom YAML. Your file would look like this if you wanted to enable two hawks and the first hawks IMU.

   sensors:
     front_stereo_camera:
     rear_stereo_camera:
     front_stereo_imu:
   

4. Once the YAML is written copy it to /etc/nova/setup.yaml. This file will be read by nova-orin-init during install.

   sudo mkdir -p /etc/nova
   sudo cp <my_yaml_path> /etc/nova/setup.yaml
   

5. Install nova-orin-init:

   sudo apt install ./nova-orin-init_*_arm64.deb
   

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

   sudo reboot
   

Upgrading

Upgrade Nova Orin Init by referencing the same NGC resource used previously. Whenever a new version is released, it will be updated under the Resources section and can be downloaded with the same installation commands:

ngc registry resource download-version "nvidia/isaac/nova_orin"
cd $(ls -td nova_orin_v* | head -1) && tar -xvf nova-orin.tar.gz
sudo apt install ./nova-orin-init_*_arm64.deb

Removing

Nova Orin Init can be removed by running the following:

sudo apt remove nova-orin-init

The removal of Nova Orin Init will attempt to revert all settings to their original state on the robot.

Additional Resources

Advanced (YAML & PFC & Tools & Troubleshooting)

License

NVIDIA Isaac ROS Software License