Nova Orin Developer Kit

Note

You have completed Nova Orin Developer Kit Quick Start Guide after receiving Nova Orin Developer Kit. The Nova Orin Developer Kit is powered on, connected with display and primary input devices.

Setting up Network Connections on Nova Orin Developer Kit

You can either connect through WiFi or Ethernet to access your local network.

1. Follow these steps to connect the Nova Orin Developer Kit to the local WiFi network:

   1. Log in to the robot (contact the NVIDIA Solutions team for the login password).

   2. Follow the WiFi instructions for Ubuntu.

2. You can also connect an Ethernet cable for Nova Orin on the right side.

After connecting to the internet it is required to reboot the system. Press the power button or run:

sudo reboot

Connecting a PC to the Nova Orin Developer Kit

To control, deploy, launch, and debug applications, you have to connect your PC remotely to the Nova Orin Developer Kit.

First, you must get the IP address of the Nova Orin Developer Kit. Assuming you have it connected to a display, and primary input devices from the previous section, follow these instructions:

1. Use CTRL+ALT+t to open a terminal.

2. Find the IP address of the WiFi by running ifconfig wlan0. You should see an output similar to the screenshot below. The IP address is highlighted with a red rectangle.

Note

If you connect Nova Orin through Ethernet, you will find IP address similarly by running ifconfig enp1s0

3. Record the IP address (in the above case it is 10.110.66.127). This IP address will be used for connecting in all further tutorials and may need to be retrieved again if it changes.

4. From your PC run the following command to SSH into the Nova Orin Developer Kit. Make sure to use a PC that is connected to the same network as your Nova Orin Developer Kit. Enter the login password when asked for it.

   $ ssh <USER>@<DEVELOPER_KIT_IP>
   

Note

Make sure to replace <USER> and <DEVELOPER_KIT_IP> with the values for your robot. In the above case, it would be ssh nvidia@10.110.66.127.

Note

The login will timeout for security reasons. Also, the DisplayPort will turn off after a while due to inactivity, so retry if the screen goes black.

Nova Orin Initialization

1. Verify if Nova Orin software is the latest version by comparing the installed package with the candidate:

   $ apt policy nova-orin-init
   nova-orin-init:
     Installed: 1.3.1
     Candidate: 1.3.1
     Version table:
    *** 1.3.1 600
           600 https://isaac.download.nvidia.com/nova-init jammy/main arm64 Packages
   

2. If the installed version is lower than the candidate, please follow the nova init upgrade process here. Otherwise proceed to the next step.

3. Verify that sensors are functioning by running:

   nova_preflight_checker -v
   

   It is expected for all tests to pass. Refer to the Nova PFC documentation for more details.

Docker Configuration

To run docker applications on the Nova Orin Developer Kit, you shall configure docker as below.

1. Add the nvidia user to the docker group to enable using docker without sudo:

   # Add your user to the docke group
   sudo usermod -aG docker $USER
   # Verify that command succeeded
   id nvidia | grep docker
   # Log out and log in for the changes to take effect
   newgrp docker
   

2. Stop the Docker service.

   sudo systemctl stop docker
   

3. Move the existing Docker folder.

   sudo du -csh /var/lib/docker/ && \
       sudo mkdir /mnt/nova_ssd/docker && \
       sudo rsync -axPS /var/lib/docker/ /mnt/nova_ssd/docker/ && \
       sudo du -csh  /mnt/nova_ssd/docker/
   

4. Use a text editor (e.g. Vi) to edit /etc/docker/daemon.json

   sudo vi /etc/docker/daemon.json
   

   Insert "data-root" line similar to the following:

   {
       "runtimes": {
           "nvidia": {
               "path": "nvidia-container-runtime",
               "runtimeArgs": []
           }
       },
       "default-runtime": "nvidia",
       "data-root": "/mnt/nova_ssd/docker"
   }
   

5. Rename the old Docker data directory.

   sudo mv /var/lib/docker /var/lib/docker.old
   

6. Restart the Docker daemon.

   sudo systemctl daemon-reload && \
       sudo systemctl restart docker && \
       sudo journalctl -u docker
   

Tutorials

Nova Orin Developer Kit is fully setup. If you intend to use Isaac ROS or are looking for example use cases please refer to the tutorials here.