Upgrade to py39 / tf 29

.github/workflows/push-docs.yml

@@ -16,13 +16,14 @@ jobs:
       - uses: actions/checkout@v3
       - uses: conda-incubator/setup-miniconda@v2.1.1
         with:
-          python-version: 3.7
+          python-version: 3.x
           auto-activate-base: true
           channels: defaults, conda-forge
       - run: |
           conda info
           conda list
           conda install mkdocs
           pip install mkdocs-redirects
+          pip install mkdocs-material
           mkdocs gh-deploy --force -v
           echo Docs were made and pushed to docs.donkeycar.com

docs/guide/robot_sbc/setup_jetson_nano.md

@@ -2,36 +2,102 @@
 
 ![donkey](/assets/logos/nvidia_logo.png)
 
-* [Step 1: Flash Operating System](#step-1-flash-operating-system)
-* [Step 2: Install Dependencies](#step-2-install-dependencies)
-* [Step 3: Setup Virtual Env](#step-3-setup-virtual-env)
-* [Step 4: Install Donkeycar Python Code](#step-4-install-donkeycar-python-code)
-* Then [Create your Donkeycar Application](/guide/create_application/)
+We have a different approaches to installing the software depending on the
+version of Donkey Car. For Donkey Car <= 4.5.X we are using Jetpack 4.5.X
+which comes with Tensorflow 2.3.1. The python installation is using virtual
+env, i.e. it is based on the system python with version 3.6. This is the 
+only version that is working on the old Jetson Nano.
 
-## Step 1: Flash Operating System
+For the `main` branch we have updated Tensorflow to 2.9 and python to 3.8 or
+3.9. This is running on a newer version of Jetpack. You will need a Jetson 
+Xavier or any of the newer Jetsons like the Orin, to use Jetpack 5.0.2. To 
+decouple the python installation from the system python we are using Miniforge 
+which is a mamba based version of Miniconda that works on the aarm architecture.
 
-These instructions work for Jetpack 4.5.1.  They are known to *NOT* work on Jetpack 4.6 or 4.6.1.  
+For Donkey Car <= 4.5.X please go to the next section. For the latest
+version on the `main` branch please jump
+to [this section](#installation-for-donkey-car-main).
 
-* If you have a 4gb Jetson Nano then download Jetpack 4.5.1 from Nvidia here; [jetson-nano-jp451-sd-card-image.zip](https://developer.nvidia.com/embedded/l4t/r32_release_v5.1/r32_release_v5.1/jeston_nano/jetson-nano-jp451-sd-card-image.zip)
-* If you have a 2gb Jetson Nano the download Jetpack 4.5.1from Nvidia here; [jetson-nano-2gb-jp451-sd-card-image.zip](https://developer.nvidia.com/embedded/l4t/r32_release_v5.1/r32_release_v5.1/jeston_nano_2gb/jetson-nano-2gb-jp451-sd-card-image.zip)
+We recommend to use 4GB version of the Jetson Nano or the Jetson Xavier to
+run the software without issues. It's also recommended using a 128GB
+microSD card with U3 speed, like for example
+[this SanDisk SD Card.](https://www.amazon.com/SanDisk-128GB-Extreme-microSD-Adapter/dp/B07FCMKK5X/ref=sr_1_4?crid=1J19V1ZZ4EVQ5&keywords=SanDisk+128GB+Extreme+microSDXC+UHS-I&qid=1676908353&sprefix=sandisk+128gb+extreme+microsdxc+uhs-i%2Caps%2C121&sr=8-4)
 
-This installs the official Nvidia build of Tensorflow 2.3.1; make sure you are using the same version of Tensorflow on your host PC if you are using one.  Using a different version of Tensorflow to train your network may result in errors when you attempt to use it as an autopilot.
 
-Visit the official [Nvidia Jetson Nano Getting Started Guide](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#prepare) or [Nvidia Xavier NX Getting Started Guide](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit). Work through the __Prepare for Setup__, __Writing Image to the microSD Card__, and __Setup and First Boot__ instructions, then return here.
+These are the supported versions:
 
-Once you're done with the setup, ssh into your vehicle. Use the the terminal for Ubuntu or Mac. [Putty](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html) for windows.
+| Jetson      | Jetpack | Python | Donkey   | Tensorflow |
+|-------------|---------|--------|----------|------------|
+| Nano        | 4.5.2   | 3.6    | <= 4.5.X | 2.3.1      |    
+| Xavier/Orin | 4.6.2   | 3.8    | >= 5.X   | 2.9        | 
 
-## Step 2: Free up the serial port (optional. Only needed if you're using the Robohat MM1)
 
+Then [Create your Donkeycar Application](/guide/create_application/)
+
+
+## Installation for Donkey Car <= 4.5.X
+
+Instructions for the latest stable release 4.5.X.
+
+* [Step 1a: Flash Operating System](#step-1a-flash-operating-system)
+* [Step 2a: Free up the serial port](#step-2a-free-up-the-serial-port-optional-only-needed-if-youre-using-the-robohat-mm1)
+* [Step 3a: Install Dependencies](#step-3a-install-system-wide-dependencies)
+* [Step 4a: Setup Python Environment](#step-4a-setup-python-environment)
+* [Step 5a: (Optional) Install PyGame for USB camera](#step-5a-optional-install-pygame-for-usb-camera)
+
+
+### Step 1a: Flash Operating System
+
+
+These instructions work for Jetpack 4.5.1. 
+
+* If you have a 4gb Jetson Nano then download Jetpack 4.5.1 from Nvidia
+  here; [jetson-nano-jp451-sd-card-image.zip](https://developer.nvidia.com/embedded/l4t/r32_release_v5.1/r32_release_v5.1/jeston_nano/jetson-nano-jp451-sd-card-image.zip)
+* If you have a 2gb Jetson Nano the download Jetpack 4.5.1from Nvidia
+  here; [jetson-nano-2gb-jp451-sd-card-image.zip](https://developer.nvidia.com/embedded/l4t/r32_release_v5.1/r32_release_v5.1/jeston_nano_2gb/jetson-nano-2gb-jp451-sd-card-image.zip)
+
+This installs the official Nvidia build of Tensorflow 2.3.1; make sure you are
+using the same version of Tensorflow on your host PC if you are using one. Using
+a different version of Tensorflow to train your network may result in errors
+when you attempt to use it as an autopilot.
+
+Visit the official [Nvidia Jetson Nano Getting Started Guide](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#prepare)
+or [Nvidia Xavier NX Getting Started Guide](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit).
+Work through the __Prepare for Setup__, __Writing Image to the microSD Card__,
+and __Setup and First Boot__ instructions, then return here.
+
+Once you're done with the setup, ssh into your vehicle. Use the terminal for
+Ubuntu or Mac. [Putty](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html)
+for windows.
+
+Remove Libre Office:
+
+```bash
+sudo apt-get remove --purge libreoffice*
+sudo apt-get clean
+sudo apt-get autoremove
+```
+
+And add a 8GB swap file:
+
+```bash
+git clone https://github.com/JetsonHacksNano/installSwapfile
+cd installSwapfile
+./installSwapfile.sh
+sudo reboot now 
 ```
+
+### Step 2a: Free up the serial port (optional. Only needed if you're using the Robohat MM1)
+
+```bash
 sudo usermod -aG dialout <your username>
 sudo systemctl disable nvgetty
 ```
 
-## Step 3: Install System-Wide Dependencies
-
+### Step 3a: Install System-Wide Dependencies
 
 First install some packages with `apt-get`.
+
 ```bash
 sudo apt-get update -y
 sudo apt-get upgrade -y
@@ -42,7 +108,9 @@ sudo apt-get install -y git nano
 sudo apt-get install -y openmpi-doc openmpi-bin libopenmpi-dev libopenblas-dev
 ```
 
-##  Step 4: Setup Virtual Environment
+### Step 4a: Setup Python Environment.
+
+#### Setup Virtual Environment
 
 ```bash
 pip3 install virtualenv
@@ -51,9 +119,10 @@ echo "source ~/env/bin/activate" >> ~/.bashrc
 source ~/.bashrc
 ```
 
-##  Step 5: Setup Python Dependencies
+#### Setup Python Dependencies
 
 Next, you will need to install packages with `pip`:
+
 ```bash
 pip3 install -U pip testresources setuptools
 pip3 install -U futures==3.1.1 protobuf==3.12.2 pybind11==2.5.0
@@ -66,76 +135,171 @@ pip3 install -U gdown
 pip3 install --pre --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v45 tensorflow==2.3.1
 ```
 
-Finally, you can install PyTorch:
+#### Install Donkeycar Python Code
+
+Change to a dir you would like to use as the head of your projects. Assuming
+you've already made the `projects` directory above, you can use that. Get
+the latest 4.5.X release and install that into the venv.
+
+```bash
+mkdir projects
+cd ~/projects
+git clone https://github.com/autorope/donkeycar
+cd donkeycar
+git fetch --all --tags -f
+latestTag=$(git describe --tags `git rev-list --tags --max-count=1`)
+git checkout $latestTag
+pip install -e .[nano45]
+
+```
+
+### Step 5a: (Optional) Install PyGame for USB camera
+
+If you plan to use a USB camera, you will also want to setup pygame:
 
 ```bash
-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 ../
+sudo apt-get install python-dev libsdl1.2-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libsmpeg-dev python-numpy subversion libportmidi-dev ffmpeg libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev
+pip install pygame
 ```
 
-Optionally, you can install the RPi.GPIO clone for Jetson Nano from [here](https://github.com/NVIDIA/jetson-gpio). This is not required for default setup, but can be useful if using LED or other GPIO driven devices.
+Later on you can add the `CAMERA_TYPE="WEBCAM"` in myconfig.py.
+
+
+
+## Installation for Donkey Car main
+
+Instructions for the latest code from the `main` branch. Note the 
+installation differs between the two available OSs. On Jetson you need to 
+install Jetpack 5.0.2.
+
+
+### Installation on Jetson Xavier (or newer Jetson boards)
 
+* [Step 1c: Flash Operating System](#step-1c-flash-operating-system)
+* [Step 2c: Free up the serial port](#step-2c-free-up-the-serial-port-optional-only-needed-if-youre-using-the-robohat-mm1)
+* [Step 3c: Setup Python Environment](#step-3c-setup-python-environment)
+* [Step 4c: (Optional) Install PyGame for USB camera](#step-4c-optional-install-pygame-for-usb-camera)
 
 
-##  Step 5: Install Donkeycar Python Code
+#### Step 1c: Flash Operating System
 
-* Change to a dir you would like to use as the head of your projects. Assuming you've already made the `projects` directory above, you can use that:
+These instructions work for Jetpack 5.0.2.
+
+Please install the Jetpack image from [jetson-nx-developer-kit-sd-card-image.zip](https://developer.nvidia.com/jetson-nx-developer-kit-sd-card-image).
+
+
+Visit the official [Nvidia Xavier NX Getting Started Guide](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit).
+Work through the __Prepare for Setup__, __Writing Image to the microSD Card__,
+and __Setup and First Boot__ instructions, then return here.
+
+Once you're done with the setup, ssh into your vehicle. Use the terminal for
+Ubuntu or Mac. [Putty](https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html)
+for windows.
+
+Remove Libre Office:
 
 ```bash
-cd ~/projects
+sudo apt-get remove --purge libreoffice*
+sudo apt-get clean
+sudo apt-get autoremove
 ```
 
-* Get the latest donkeycar from Github.
-> Note: There are currently version updates happening on the `main` branch so you might rather want to checkout the latest stable release as explained below.
+And add a 8GB swap file. Note, if you intend to run from an SSD, perform the 
+swap file setup only after booting from the SSD:
 
 ```bash
-git clone https://github.com/autorope/donkeycar
-cd donkeycar
-git checkout main
-pip3 install -e .[nano]
+git clone https://github.com/JetsonHacksNano/installSwapfile
+cd installSwapfile
+./installSwapfile.sh -s 8
+reboot 
 ```
 
-* Alternatively, to get the latest stable release
+#### Step 2c: Free up the serial port (optional. Only needed if you're using the Robohat MM1)
+
 ```bash
+sudo usermod -aG dialout <your username>
+sudo systemctl disable nvgetty
+```
+
+#### Step 3c: Setup python environment
+
+* Step 1: Install mamba-forge
+
+Download and install Miniconda and install `mamba`.
+
+```bash
+wget https://repo.anaconda.com/miniconda/Miniconda3-py38_23.1.0-1-Linux-aarch64.sh
+chmod u+x ./Miniconda3-py38_23.1.0-1-Linux-aarch64.sh
+bash ./Miniconda3-py38_23.1.0-1-Linux-aarch64.sh
+conda install mamba -n base -c conda-forge
+```
+
+* Step 2: Download and install Donkey Car
+
+Downloading Donkey Car from GitHub
+
+```bash
+mkdir projects
+cd projects
 git clone https://github.com/autorope/donkeycar
 cd donkeycar
-git fetch --all --tags -f
-latestTag=$(git describe --tags `git rev-list --tags --max-count=1`)
-git checkout $latestTag
+git checkout main
+mamba env create -f install/envs/jetson.yml
+conda activate donkey
 pip install -e .[nano]
+pip install -U albumentations --no-binary qudida,albumentations
+sudo chmod 666 /dev/gpiochip*
+
 ```
 
-## Step 6: (Optional) Fix for pink tint on CSIC cameras
+* Step 3: Check the TF and OpenCV installation
 
-If you're using a CSIC camera you may have a pink tint on the images. As described [here](https://jonathantse.medium.com/fix-pink-tint-on-jetson-nano-wide-angle-camera-a8ce5fbd797f), this fix will remove it.
+Run python and verify that tensorflow is version 2.9 and trt is version 8.2.1.
+To get the tensorrt shared libraries to load correctly we must set the
+environment variable `LD_PRELOAD` as:
 
+```bash
+export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libnvinfer.so.8:/usr/lib/aarch64-linux-gnu/libgomp.so.1
 ```
-wget https://www.dropbox.com/s/u80hr1o8n9hqeaj/camera_overrides.isp
-sudo cp camera_overrides.isp /var/nvidia/nvcam/settings/
-sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp
-sudo chown root:root /var/nvidia/nvcam/settings/camera_overrides.isp
+
+Note, this has to be done either every time you run donkeycar or tensorflow, or
+you put the above line into your `.bashrc`.
+
+```bash
+python
+>>> import tensorflow as tf
+>>> tf.__version__
+>>> from tensorflow.python.compiler.tensorrt import trt_convert as trt
+>>> trt._check_trt_version_compatibility()
+>>> import cv2
+>>> print(cv2.getBuildInformation())
 ```
 
-##  Step 7: (Optional) Install PyGame for USB camera
+#### Step 4c: (Optional) Install PyGame for USB camera
 
 If you plan to use a USB camera, you will also want to setup pygame:
 
 ```bash
-sudo apt-get install python-dev libsdl1.2-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev libsmpeg-dev python-numpy subversion libportmidi-dev ffmpeg libswscale-dev libavformat-dev libavcodec-dev libfreetype6-dev
-
 pip install pygame
+```
+Later on you can add the `CAMERA_TYPE="WEBCAM"` in myconfig.py.
+
+
+## (Optional) Fix for pink tint on CSIC cameras
+
+This applies to any installation you did above, either JP 4.6.X or 5.0.X.
+If you're using a CSIC camera you may have a pink tint on the images. As
+described [here](https://jonathantse.medium.com/fix-pink-tint-on-jetson-nano-wide-angle-camera-a8ce5fbd797f),
+this fix will remove it.
 
+```bash
+wget https://www.dropbox.com/s/u80hr1o8n9hqeaj/camera_overrides.isp
+sudo cp camera_overrides.isp /var/nvidia/nvcam/settings/
+sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp
+sudo chown root:root /var/nvidia/nvcam/settings/camera_overrides.isp
 ```
 
-Later on you can add the `CAMERA_TYPE="WEBCAM"` in myconfig.py.
 
 ----
 
-### Next, [create your Donkeycar application](/guide/create_application).
+## Next, [create your Donkeycar application](/guide/create_application).