I wanted to see if I could get Nvidia's DOPE package working on the Jetson Nano. The result is, yes and no. Yes, I was able to work out all the dependencies and the build process. But the Nano isn't powerful enough to run the program and after a few seconds either DOPE crashes or the entire system freezes.
I haven't actually looked into the inner workings of DOPE yet. I don't know what its execution process looks like or whether or not I can decrease the frame rate. If it's attempting to run at a deterministic 30Hz, that's not going to work for us. I'll see if I can set it to run at best effort and just grab the most recent frame each loop. Even setting it to run at a deterministic 1Hz would probably be fine. Maybe 0.5Hz. We'll see.
Anyway, here's the build process I put together. It's pretty straight forward.
I haven't actually looked into the inner workings of DOPE yet. I don't know what its execution process looks like or whether or not I can decrease the frame rate. If it's attempting to run at a deterministic 30Hz, that's not going to work for us. I'll see if I can set it to run at best effort and just grab the most recent frame each loop. Even setting it to run at a deterministic 1Hz would probably be fine. Maybe 0.5Hz. We'll see.
Anyway, here's the build process I put together. It's pretty straight forward.
- Install system updates and a few dependencies
- Install PyTorch and Torch Vision
- Install ROS
- Build DOPE
After that you have to run the program in typical ROS fashion, which means interacting with four or five terminals simultaneously. I'll keep working on this.