Jetson Orin Nano 8GB: Jetpack 4.6 Support

[RogueScorpion]

Hi Everyone,
I am building Jetbot for my summer high school project. I have bought the latest jetson nano from here: https://www.amazon.com/dp/B0BZJTQ5YP?nvid=em-945-13766-0005-000&th=1
Following the instructions from: https://jetbot.org/master/software_setup/sd_card.html, I have flashed jetson device with JetPack SD card image for Jetson Nano (4GB). However, It is not working. I have attached screen shot.
Is there a different version Jetpack 4.6 available for Jetson Orin Nano 8GB device? Has any one succesfully built Jetbot with Jetson Orin Nano 8GB version?
I am very excited to get started working on this. Thanks for every one for help in advance.

[tokk-nv]

Hi RogueScorpion,
It's great to hear that you are working on Jetbot with Jetson Orin Nano 8GB Developer Kit for your high school summer project!
The little bad news is that we don't have the JetBot SD card image for Jetson Orin Nano, as Jetson Orin Nano only has software support starting from JetPack 6.
But the good news is that we are trying to enable JetBot on Jetson Orin Nano through jetson-containers, which I'm hoping to solidify soon and update the documents on jetbot.org.

So if you are interested in giving it a try, here is the rough instruction.

1. FLash JetPack 6 SD card image for Jetson Orin Nano on a SD card (64GB or bigger recommended)

2. Run the following commands

# install the container tools
git clone https://github.com/dusty-nv/jetson-containers
bash jetson-containers/install.sh

# automatically pull & run any container
jetson-containers run $(autotag jetbot)

There may be some troubleshooting or figuring things out along the way necessary.
Did you get to connect a IMX219 CSI camera to your Jetson Orin Nano Developer Kit? You may need a 15pin-to-22pin adaptor. (reference)

Please let me know if you face any issues.

[RogueScorpion]

Hi @tokk-nv,

Thank you for your response. I finished updating to Jetpack 6 and am working on the docker setup. I did connect the camera and used the camera linked in the bill of materials. See attached image. I will keep you posted after installing the docker. I'll also submit a PR with changes in the documentation.

[RogueScorpion]

Hi @tokk-nv,

The docker command is failing for jetbot. The error is below. Any suggestions?

jetson-containers run $(autotag jetbot)
Namespace(packages=['jetbot'], prefer=['local', 'registry', 'build'], disable=[''], user='dustynv', output='/tmp/autotag', quiet=False, verbose=False)
-- L4T_VERSION=36.3.0  JETPACK_VERSION=6.0  CUDA_VERSION=12.2
-- Finding compatible container image for ['jetbot']

Couldn't find a compatible container for jetbot, would you like to build it? [y/N] y
-- Package l4t-tensorflow:tf1 has missing dependencies, disabling...  ("couldn't find package:  tensorflow")
Traceback (most recent call last):
  File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/home/deepthinker/jetson-containers/jetson_containers/tag.py", line 58, in <module>
    image = find_container(args.packages[0], prefer_sources=args.prefer, disable_sources=args.disable, user=args.user, quiet=args.quiet)
  File "/home/deepthinker/jetson-containers/jetson_containers/container.py", line 533, in find_container
    return build_container('', package) #, simulate=True)
  File "/home/deepthinker/jetson-containers/jetson_containers/container.py", line 66, in build_container
    packages = resolve_dependencies(packages)
  File "/home/deepthinker/jetson-containers/jetson_containers/packages.py", line 316, in resolve_dependencies
    packages, changed = add_depends(packages)
  File "/home/deepthinker/jetson-containers/jetson_containers/packages.py", line 288, in add_depends
    for dependency in find_package(package).get('depends', []):
  File "/home/deepthinker/jetson-containers/jetson_containers/packages.py", line 174, in find_package
    raise KeyError(f"couldn't find package:  {package}")
KeyError: "couldn't find package:  jetbot"
-- Error:  return code 1
localuser:root being added to access control list
xauth:  file /tmp/.docker.xauth does not exist
+ sudo docker run --runtime nvidia -it --rm --network host --volume /tmp/argus_socket:/tmp/argus_socket --volume /etc/enctune.conf:/etc/enctune.conf --volume /etc/nv_tegra_release:/etc/nv_tegra_release --volume /tmp/nv_jetson_model:/tmp/nv_jetson_model --volume /var/run/dbus:/var/run/dbus --volume /var/run/avahi-daemon/socket:/var/run/avahi-daemon/socket --volume /var/run/docker.sock:/var/run/docker.sock --volume /home/deepthinker/jetson-containers/data:/data --device /dev/snd --device /dev/bus/usb -e DISPLAY=:0 -v /tmp/.X11-unix/:/tmp/.X11-unix -v /tmp/.docker.xauth:/tmp/.docker.xauth -e XAUTHORITY=/tmp/.docker.xauth --device /dev/i2c-0 --device /dev/i2c-1 --device /dev/i2c-2 --device /dev/i2c-4 --device /dev/i2c-5 --device /dev/i2c-7 --device /dev/i2c-9
"docker run" requires at least 1 argument.
See 'docker run --help'.

Usage:  docker run [OPTIONS] IMAGE [COMMAND] [ARG...]

Create and run a new container from an image

[tokk-nv]

Hi @RogueScorpion,
Thank you for providing the pic. It looks good!

And sorry, I have not yet merged the work on my fork on the upstream jetson-containers.

Can you try the following?

git checkout https://github.com/tokk-nv/jetson-containers jetson-containers_tokknv
cd jetson-containers_tokknv
./build.sh --skip-tests=all jetbot
./run.sh $(autotag jetbot)

The building of the jetbot container image may take some time.

Please let me know how it goes.

[RogueScorpion]

Hi @tokk-nv,

Thanks for the prompt response. I cloned your repo and ran the build script. I am still running into problems. Please see below

./build.sh --skip-tests=all jetbot
Namespace(packages=['jetbot'], name='', base='', multiple=False, build_flags='', package_dirs=[''], list_packages=False, show_packages=False, skip_packages=[''], skip_errors=False, skip_tests=['all'], test_only=[''], simulate=False, push='', logs='', verbose=False, no_github_api=False)
-- L4T_VERSION=36.3.0
-- JETPACK_VERSION=6.0
-- CUDA_VERSION=12.2
-- PYTHON_VERSION=3.10
-- LSB_RELEASE=22.04 (jammy)
-- Package l4t-tensorflow:tf1 has missing dependencies, disabling...  ("couldn't find package:  tensorflow")
Traceback (most recent call last):
  File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.10/runpy.py", line 86, in _run_code
    exec(code, run_globals)
  File "/home/deepthinker/jetson-containers_tokknv/jetson_containers/build.py", line 103, in <module>
    build_container(args.name, args.packages, args.base, args.build_flags, args.simulate, args.skip_tests, args.test_only, args.push, args.no_github_api)
  File "/home/deepthinker/jetson-containers_tokknv/jetson_containers/container.py", line 66, in build_container
    packages = resolve_dependencies(packages)
  File "/home/deepthinker/jetson-containers_tokknv/jetson_containers/packages.py", line 316, in resolve_dependencies
    packages, changed = add_depends(packages)
  File "/home/deepthinker/jetson-containers_tokknv/jetson_containers/packages.py", line 288, in add_depends
    for dependency in find_package(package).get('depends', []):
  File "/home/deepthinker/jetson-containers_tokknv/jetson_containers/packages.py", line 174, in find_package
    raise KeyError(f"couldn't find package:  {package}")

[RogueScorpion]

Hi @tokk-nv,
Should I be checking out dev-jetbot branch?

[tokk-nv]

Hi @RogueScorpion,
Sorry about the problems.

Would you please try this container image that I got to build two months ago?

docker pull lekto/jetbot:r36.3.0
./run.sh lekto/jetbot:r36.3.0

Regards,

[RogueScorpion]

Hi @tokk-nv,

Thank you for the prebuilt docker image. However, this error is showing up when running the second command. I bought this ssd, would this be an issue?

./run.sh lekto/jetbot:r36.3.0
[sudo] password for deepthinker: 
localuser:root being added to access control list
xauth:  file /tmp/.docker.xauth does not exist
+ docker run --runtime nvidia -it --rm --network host --volume /tmp/argus_socket:/tmp/argus_socket --volume /etc/enctune.conf:/etc/enctune.conf --volume /etc/nv_tegra_release:/etc/nv_tegra_release --volume /tmp/nv_jetson_model:/tmp/nv_jetson_model --volume /var/run/dbus:/var/run/dbus --volume /var/run/avahi-daemon/socket:/var/run/avahi-daemon/socket --volume /var/run/docker.sock:/var/run/docker.sock --volume /orin_ssd/jetson-containers_tokknv/data:/data --device /dev/snd --device /dev/bus/usb -e DISPLAY=:0 -v /tmp/.X11-unix/:/tmp/.X11-unix -v /tmp/.docker.xauth:/tmp/.docker.xauth -e XAUTHORITY=/tmp/.docker.xauth --device /dev/video0 --device /dev/video1 --device /dev/i2c-0 --device /dev/i2c-1 --device /dev/i2c-2 --device /dev/i2c-4 --device /dev/i2c-5 --device /dev/i2c-7 --device /dev/i2c-9 lekto/jetbot:r36.3.0

Starting JupyterLab server at http://192.168.0.7:8888 (password "nvidia")

[I 2024-08-13 17:26:12.318 ServerApp] jupyter_lsp | extension was successfully linked.
[I 2024-08-13 17:26:12.327 ServerApp] jupyter_server_terminals | extension was successfully linked.
[I 2024-08-13 17:26:12.338 ServerApp] jupyterlab | extension was successfully linked.
[I 2024-08-13 17:26:12.346 ServerApp] notebook | extension was successfully linked.
[I 2024-08-13 17:26:12.348 ServerApp] Writing Jupyter server cookie secret to /root/.local/share/jupyter/runtime/jupyter_cookie_secret
[I 2024-08-13 17:26:12.859 ServerApp] notebook_shim | extension was successfully linked.
[I 2024-08-13 17:26:12.893 ServerApp] notebook_shim | extension was successfully loaded.
[I 2024-08-13 17:26:12.897 ServerApp] jupyter_lsp | extension was successfully loaded.
[I 2024-08-13 17:26:12.899 ServerApp] jupyter_server_terminals | extension was successfully loaded.
[I 2024-08-13 17:26:12.904 LabApp] JupyterLab extension loaded from /usr/local/lib/python3.10/dist-packages/jupyterlab
[I 2024-08-13 17:26:12.904 LabApp] JupyterLab application directory is /usr/local/share/jupyter/lab
[I 2024-08-13 17:26:12.905 LabApp] Extension Manager is 'pypi'.
[I 2024-08-13 17:26:12.995 ServerApp] jupyterlab | extension was successfully loaded.
[I 2024-08-13 17:26:13.002 ServerApp] notebook | extension was successfully loaded.
[I 2024-08-13 17:26:13.002 ServerApp] Serving notebooks from local directory: /opt/jetbot/notebooks
[I 2024-08-13 17:26:13.002 ServerApp] Jupyter Server 2.14.1 is running at:
[I 2024-08-13 17:26:13.003 ServerApp] http://andromeda:8888/lab
[I 2024-08-13 17:26:13.003 ServerApp]     http://127.0.0.1:8888/lab
[I 2024-08-13 17:26:13.003 ServerApp] Use Control-C to stop this server and shut down all kernels (twice to skip confirmation).
[W 2024-08-13 17:26:13.017 ServerApp] No web browser found: Error('could not locate runnable browser').
[I 2024-08-13 17:26:13.313 ServerApp] Skipped non-installed server(s): bash-language-server, dockerfile-language-server-nodejs, javascript-typescript-langserver, jedi-language-server, julia-language-server, pyright, python-language-server, python-lsp-server, r-languageserver, sql-language-server, texlab, typescript-language-server, unified-language-server, vscode-css-languageserver-bin, vscode-html-languageserver-bin, vscode-json-languageserver-bin, yaml-language-server

JupyterLab server is now started

JupyterLab URL:   http://192.168.0.7:8888 (password "nvidia")
JupyterLab logs:  /data/logs/jupyter.log


Starting OLED server at http://192.168.0.7:5005

Traceback (most recent call last):
  File "/opt/oled/oled_server.py", line 163, in <module>
    server = DisplayServer()
  File "/opt/oled/oled_server.py", line 81, in __init__
    self.display.begin()
  File "/usr/local/lib/python3.10/dist-packages/Adafruit_SSD1306/SSD1306.py", line 148, in begin
    self._initialize()
  File "/usr/local/lib/python3.10/dist-packages/Adafruit_SSD1306/SSD1306.py", line 292, in _initialize
    self.command(SSD1306_DISPLAYOFF)                    # 0xAE
  File "/usr/local/lib/python3.10/dist-packages/Adafruit_SSD1306/SSD1306.py", line 129, in command
    self._i2c.write8(control, c)
  File "/usr/local/lib/python3.10/dist-packages/Adafruit_GPIO/I2C.py", line 114, in write8
    self._bus.write_byte_data(self._address, register, value)
  File "/usr/local/lib/python3.10/dist-packages/Adafruit_PureIO/smbus.py", line 316, in write_byte_data
    self._device.write(data)
OSError: [Errno 121] Remote I/O error
OLED_SERVER_LOGS   /data/logs/oled_server.log

[tokk-nv]

It appears that you don't have the small OLED display attached to Jetson Orin Nano Developer Kit.
You may be able to get away with it, but you want to make sure that the motor driver is connected to the I2C pins on the 40pin haeder.
https://jetbot.org/master/hardware_setup.html#step-11-wire-motor-driver-to-pioled-display

[RogueScorpion]

Hi @tokk-nv,

I attached display to jetbot and it's showing the text below. Additionally, I am running the Jupyter notebook and got the following error. I checked my wiring but any thoughts on this problem.

OSError                                   Traceback (most recent call last)
Cell In[2], line 1
----> 1 robot = Robot()

File [/usr/local/lib/python3.10/dist-packages/jetbot-0.4.3-py3.10.egg/jetbot/robot.py:82](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/jetbot-0.4.3-py3.10.egg/jetbot/robot.py#line=81), in Robot.__init__(self, *args, **kwargs)
     80 def __init__(self, *args, **kwargs):
     81     super(Robot, self).__init__(*args, **kwargs)
---> 82     self.motor_driver = Adafruit_MotorHAT(i2c_bus=self.i2c_bus)
     83     self.left_motor = Motor(self.motor_driver, channel=self.left_motor_channel, alpha=self.left_motor_alpha)
     84     self.right_motor = Motor(self.motor_driver, channel=self.right_motor_channel, alpha=self.right_motor_alpha)

File [/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_MotorHAT_Motors.py:231](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_MotorHAT_Motors.py#line=230), in Adafruit_MotorHAT.__init__(self, addr, freq, i2c, i2c_bus)
    229 self.motors = [ Adafruit_DCMotor(self, m) for m in range(4) ]
    230 self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]
--> 231 self._pwm = PWM(addr, debug=False, i2c=i2c, i2c_bus=i2c_bus)
    232 self._pwm.setPWMFreq(self._frequency)

File [/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py:59](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py#line=58), in PWM.__init__(self, address, debug, i2c, i2c_bus)
     57 self.i2c = get_i2c_device(address, i2c, i2c_bus)
     58 logger.debug("Reseting PCA9685 MODE1 (without SLEEP) and MODE2")
---> 59 self.setAllPWM(0, 0)
     60 self.i2c.write8(self.__MODE2, self.__OUTDRV)
     61 self.i2c.write8(self.__MODE1, self.__ALLCALL)

File [/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py:95](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/Adafruit_MotorHAT-1.4.0-py3.10.egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py#line=94), in PWM.setAllPWM(self, on, off)
     93 def setAllPWM(self, on, off):
     94     "Sets a all PWM channels"
---> 95     self.i2c.write8(self.__ALL_LED_ON_L, on & 0xFF)
     96     self.i2c.write8(self.__ALL_LED_ON_H, on >> 8)
     97     self.i2c.write8(self.__ALL_LED_OFF_L, off & 0xFF)

File [/usr/local/lib/python3.10/dist-packages/Adafruit_GPIO/I2C.py:114](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/Adafruit_GPIO/I2C.py#line=113), in Device.write8(self, register, value)
    112 """Write an 8-bit value to the specified register."""
    113 value = value & 0xFF
--> 114 self._bus.write_byte_data(self._address, register, value)
    115 self._logger.debug("Wrote 0x%02X to register 0x%02X",
    116              value, register)

File [/usr/local/lib/python3.10/dist-packages/Adafruit_PureIO/smbus.py:316](http://192.168.0.7:8888/usr/local/lib/python3.10/dist-packages/Adafruit_PureIO/smbus.py#line=315), in SMBus.write_byte_data(self, addr, cmd, val)
    314 # Send the data to the device.
    315 self._select_device(addr)
--> 316 self._device.write(data)

OSError: [Errno 121] Remote I[/O](http://192.168.0.7:8888/O) error

[gigibot-tech]

Are there any updates?
As far as I can see there is at least a bill of materials. Will a software setup soon be included?: https://jetbot.org/master/bill_of_materials_orin.html

Forums also say, that f.E. the old platform also works if you add an additional battery (?) https://forums.developer.nvidia.com/t/using-jetbot-with-jetson-orin-nano-dev-kit/281686 . I am very new to this topic so any additional updates or feedback would really help :)

[kafl]

Hi Tokk-nv and RogueScorpion

Did any of you find out any solution to the last issue to get this nano orin to work as jetbot?
I get aproximate same errors - and as far as i understand it is still because of the display - maybe the driver that is not workgin? - not sure.

As far i can see - you may have your brown cable attached to wrong place RogueScorpion?
It should be attached to ground - which i believe is in the opposite position?
https://jetsonhacks.com/nvidia-jetson-orin-nano-gpio-header-pinout/

That is what i could see and understand - but I dont even have any text on that display...