Flash memory card with jetson-os (can be done using Nvidia SDK Manager) Format hard-drive (SSD) Enable ssh (https://www.cyberciti.biz/faq/ubuntu-linux-install-openssh-server/) Move installation to SSD Jetsonhacks (https://www.jetsonhacks.com/2020/05/29/jetson-xavier-nx-run-from-ssd/) Shut down ssh over telemetri, Jetsonhacks (https://www.jetsonhacks.com/2019/10/10/jetson-nano-uart/)
Ros2 (https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html) Pip3 (https://linuxize.com/post/how-to-install-pip-on-ubuntu-20.04/) Pyserial (pip3 install pyserial) Colcon (https://colcon.readthedocs.io/en/released/user/installation.html) Python-can (pip3 install python-can) Cantools (pip3 install cantools) Screen terminal (sudo apt install screen)
Clone the marv-ros repository to the documents folder Run "sudo visudo" and remove sudo requirement, add a line with "reach-001 ALL=(ALL) NOPASSWD:ALL" Add user to dialout usb (run "sudo usermod -a -G dialout $USER") Build marv-ros (colcon build --symlink-install) inside the colcon_ws
Edit marv_package to the correct user, e.g reach-001 Copy marv_package.service with "sudo cp -a marv_package.service /etc/systemd/system" Enable service with "sudo systemctl enable marv_package" (Start service directly, without reboot, to see if everything starts up with "sudo systemctl start marv_package")