DonkeyCar for JetRacer Pro 教程一、Jetson nano安装
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DonkeyCar for JetRacer Pro 教程目录
- DonkeyCar for JetRacer Pro 教程一、Jetson nano安装
- DonkeyCar for JetRacer Pro 教程二、Linux PC安装
- DonkeyCar for JetRacer Pro 教程三、WEB控制
- DonkeyCar for JetRacer Pro 教程四、校准DonkeyCar
- DonkeyCar for JetRacer Pro 教程五、游戏杆控制
- DonkeyCar for JetRacer Pro 教程六、数据采集
- DonkeyCar for JetRacer Pro 教程七、训练数据
- DonkeyCar for JetRacer Pro 教程八、自主巡线驾驶
- JetRacer Pro AI Kit WIKI 主页
步骤1、安装依赖
默认你的jetson nano已经安装镜像并启动。打开控制终端,输入如下命令安装依赖库
sudo apt-get update sudo apt-get upgrade sudo apt-get install -y libhdf5-serial-dev hdf5-tools libhdf5-dev zlib1g-dev zip libjpeg8-dev liblapack-dev libblas-dev gfortran sudo apt-get install -y python3-dev python3-pip sudo apt-get install -y libxslt1-dev libxml2-dev libffi-dev libcurl4-openssl-dev libssl-dev libpng-dev libopenblas-dev sudo apt-get install -y git nano sudo apt-get install -y openmpi-doc openmpi-bin libopenmpi-dev libopenblas-dev
步骤2、设置虚拟环境
pip3 install virtualenv python3 -m virtualenv -p python3 env --system-site-packages echo "source env/bin/activate" >> ~/.bashrc source env/bin/activate #进入虚拟环境 *注意:之后donkeycar所以操作都需要在此虚拟环境中进行,新开的终端如没有进入虚拟环境中需要运行source env/bin/activate命令进入此虚拟环境。
步骤3、安装python依赖库
- 通过pip安装依赖库。
pip3 install -U pip testresources setuptools pip3 install -U futures==3.1.1 protobuf==3.12.2 pybind11==2.5.0 pip3 install -U cython==0.29.21 pyserial pip3 install -U future==0.18.2 mock==4.0.2 h5py==2.10.0 keras_preprocessing==1.1.2 keras_applications==1.0.8 gast==0.3.3 pip3 install -U absl-py==0.9.0 py-cpuinfo==7.0.0 psutil==5.7.2 portpicker==1.3.1 six requests==2.24.0 astor==0.8.1 termcolor==1.1.0 wrapt==1.12.1 google-pasta==0.2.0 pip3 install -U gdown # This will install tensorflow as a system package pip3 install --pre --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v45 tensorflow==2.3.1
- 安装PyTorch
wget https://nvidia.box.com/shared/static/p57jwntv436lfrd78inwl7iml6p13fzh.whl cp p57jwntv436lfrd78inwl7iml6p13fzh.whl torch-1.8.0-cp36-cp36m-linux_aarch64.whl pip3 install torch-1.8.0-cp36-cp36m-linux_aarch64.whl sudo apt-get install libjpeg-dev zlib1g-dev libpython3-dev libavcodec-dev libavformat-dev libswscale-dev mkdir -p ~/projects; cd ~/projects git clone -b v0.9.0 https://github.com/pytorch/vision torchvision cd torchvision python setup.py install cd ../
步骤4、安装Donkeycar Python代码
- 从Github获取最新的donkeycar程序
cd ~/projects git clone https://github.com/autorope/donkeycar cd donkeycar git checkout master pip install -e .[nano] pip install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v42 tensorflow-gpu==1.13.1+nv19.3
步骤5、从模板创建Donkeycar
- 使用以下命令创建donkeycar实例
donkey createcar --path ~/mycar
程序运行后~/mycar目录下回自动生成一系列控制donkeycar的文件。
- 打开如下文件,找到摄像头参数设置部分修改摄像头参数
nano myconfig.py
Jetson Nano使用基于Sony IMX219的相机,摄像头改为CSIC,分辨率设置为224*224.
#CAMERA CAMERA_TYPE = "CSIC" # (PICAM|WEBCAM|CVCAM|CSIC|V4L|MOCK) IMAGE_W = 224 IMAGE_H = 224