Jetson tk1 刷机后要做的几件事


1. 查看Jetson TK1 L4T版本

head -n 1 /etc/nv_tegra_release

2. 查看系统位数(32/64),当然是32位的了

getconf LONG_BIT

3. 修改密码(ubuntu太长了)

sudo passwd ubuntu(root或对应的用户名)

4. 按照上一篇教程,更新软件源


5. 安装git

sudo apt-get update
sudo apt-get install git

6. 配置postFlash脚本:

git clone
cd postFlash


  • Chromium is installed as a browser. Firefox has issues downloading .zip files, so Chromium is a good alternative. Two other applications are also installed, aptitude and git.
  • USB 3.0 is enabled. The default is USB 2.0, /boot/extlinux/extlinux.conf must be modified to enable USB 3.0.
  • Two scripts are installed in /usr/local/bin. To conserve power, by default the Jetson suspends power to the USB ports when they are not in use. In a desktop environment, this can lead to issues with devices such as cameras and webcams. The first script disables USB autosuspend.
  • Also to conserve power, the Jetson manipulates the CPU cores and GPU clock speeds. The second script sets everything up for maximum performance.

7. 安装Grinch Kernel (本人未安装


Install Grinch Kernel for L4T 21.3 on NVIDIA Jetson TK1



Many people, especially those coming from desktop platforms, wonder why the Jetson lacks initial support for a wide variety of external peripherals when removed from the box. The reason is that the Jetson is an embedded development kit, which means its main initial intent was to help developers build devices that include the Tegra K1 chip. If you think about it from that perspective, it wouldn’t make much sense to have extra drivers and cruft installed that a device doesn’t use. For example, if you were building a phone, it doesn’t make sense to have drivers for 20 different wireless cards that the phone doesn’t contain.

However, the Jetson is also powerful enough to be a general purpose desktop computer. Desktop computer users have certain expectations, including being able to add devices and drivers, or have support for common devices available. Fortunately the Jetson community, led by user Santyago built a new Linux kernel named Grinch which includes a lot of the features to which most desktop users are accustomed.


git clone
cd installGrinch

8. 安装ROS Indigo


Nvidia Jetson TK1 ROS wiki

Ubuntu ARM install of ROS Indigo

Robot Operating System (ROS) on NVIDIA Jetson TK1

git clone
cd installROS


It is not recommended to run rviz on most ARM-based CPUs. They're generally too slow, and the version of OpenGL that is provided by the software (mesa) libraries it not new enough to start rviz.

'IF' you have a powerful board with a GPU and vendor-supplied OpenGL libraries, it might be possible to run rviz. The IFC6410 and the NVidia Jetson TK1 are two such boards where rviz will run, although neither is fast enough for graphics-heavy tasks such as displaying pointclouds.

Note that rviz will segfault if you have the GTK_IM_MODULE environment variable set, so it's best to unset it in your~/.bashrc:



最后,在Terminal 中运行:

   等待一段时间,ROS Indigo就应该安装好了,可以运行 roscore 检查是否安装成功。

9. 安装g++编译器

没有 g++ 编译器,ROS没法跑:

sudo apt-get install g++

10. Hacking for OpenCV(还没做)


ROS, OpenCV and OpenCV4Tegra on the NVIDIA Jetson TK1


  • /opt/ros/<ros-version>/lib/pkgconfig/cv_bridge.pc
  • /opt/ros/<ros-version>/lib/pkgconfig/image_geometry.pc
  • /opt/ros/<ros-version>/share/cv_bridge/cmake/cv_bridgeConfig.cmake
  • /opt/ros/<ros-version>/share/image_geometry/cmake/image_geometryConfig.cmake


sudo cp /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc-bak
sudo cp /opt/ros/indigo/lib/pkgconfig/image_geometry.pc /opt/ros/indigo/lib/pkgconfig/image_geometry.pc-bak
sudo cp /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake-bak
sudo cp /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake-bak


  • remove each instance /usr/lib/arm-linux-gnueabihf/;
  • replace each instance of /usr/lib/arm-linux-gnueabihf/ with /usr/lib
  • replace each instance of 2.4.8 with 2.4.12 (or the current version of OpenCV in opencv4tegra package)
sudo gedit /opt/ros/indigo/lib/pkgconfig/cv_bridge.pc &
sudo gedit /opt/ros/indigo/lib/pkgconfig/image_geometry.pc &
sudo gedit /opt/ros/indigo/share/cv_bridge/cmake/cv_bridgeConfig.cmake &
sudo gedit /opt/ros/indigo/share/image_geometry/cmake/image_geometryConfig.cmake &


安装Kinect Driver等后续工作可以参考:


posted @ 2016-12-11 14:55  白菜菜白  阅读(3371)  评论(0编辑  收藏  举报