Software Installation

The NVIDIA IGX Orin Developer Kit should have Holopack installed from the factory.

Follow the instructions in the Section: Interactive Installation of Holopack to complete the setup before using your developer kit.

Once powered up, open the terminal to check for the currently installed L4T base image version by issuing either of the following commands.


$ sudo apt policy nvidia-l4t-core $ cat /etc/nv_tegra_release

You should see an output with the L4T release version. In the example below, the release version is 35.4.0.


nvidia@nvidia-desktop:~$ sudo apt policy nvidia-l4t-core [sudo] password for nvidia: nvidia-l4t-core: Installed: 35.4.0-20230522111008 Candidate: 35.4.0-20230522111008 Version table: *** 35.4.0-20230522111008 600 600 r35.4.hp/main arm64 Packages 100 /var/lib/dpkg/status nvidia@nvidia-desktop:~$ cat /etc/nv_tegra_release # R35 (release), REVISION: 4.0, GCID: 33352811, BOARD: t186ref, EABI: aarch64, DATE: Mon May 22 18:18:27 UTC 2023

After checking the L4T version, you can decide whether a re-flashing is needed for the Holopack you want to install.

The following are needed to complete the setup of the default Holopack installation:

  • A compatible power cable. The NVIDIA IGX Orin Developer Kit may not include a power cable compatible with your local electrical requirements.

  • Connection to the internet.

  • A keyboard, mouse, and monitor with DisplayPort.

  1. Power up the system to start booting Holopack.

  2. Set up System Configuration:

    1. Accept the L4T_End_User_License_Agreement

    2. Select system language

    3. Select keyboard layout

    4. Select the time zone

    5. Set up your username and password

    6. Enter the APP partition size when prompted.

  3. Reboot the system when prompted.

  4. Log in with the username and password you selected in Step 2.


    If the Display port is attached to the discrete GPU and you do not see the NVIDIA splash screen during reboot, the GPU firmware must be updated. Refer to the NVIDIA IGX Orin Developer Kit dGPU Installation Guidelines (DA-11330-001) and NVIDIA IGX Orin dGPU NVFLASH User Guidelines (DA-11365-001) on the NVIDIA Product information database for details on updating the GPU firmware.

  5. Once you have logged into the desktop, you will be prompted to install an NVIDIA GPU driver.

    1. The prompt asks if you want to install the GPU stack that is detected based on the DP cable connection.


      The developer kit can only have either the iGPU stack or the dGPU stack installed. If your developer kit has a RTX A6000 and you opt to install the iGPU stack, the dGPU will not be utilized.

      If you accidentally connected the DP cable to the Orin module (8) instead of the discrete GPU (14), you will be asked if you want to install the iGPU stack.

      Click “No”, reboot the developer kit, and move the DP cable to one of the four DP ports (14).

    2. After rebooting you will be prompted to install the dGPU software. Click Yes to continue:


      Figure 5-1. Prompt to Install dGPU

    3. Otherwise, select Yes to install the iGPU software:


      Figure 5-2. Prompt to Install iGPU

  6. Enter your user’s password when prompted to complete Holopack installation.

    Figure 5‑3 shows a screenshot at the end of a successful installation.


    Figure 5-3. Screenshot of dGPU Stack Installation

  7. Reboot when prompted. Now you’re ready to use your IGX Orin Developer Kit!

Checking the Currently Installed GPU Stack

  1. Use the following commands to check which GPU stack is installed:


    $ lsmod | grep nv

  2. If the iGPU stack is installed, the output should contain nvgpu:


    $ lsmod | grep nv nvidia_modeset 1093632 6 nvadsp 110592 1 snd_soc_tegra210_adsp nvidia 1339392 13 nvidia_modeset nvgpu 2494464 32 nvmap 192512 146 nvgpu

  3. Use the nvidia-smi command to validate that the dGPU software stack installed successfully:


    $ nvidia-smi Wed Mar 1 19:13:09 2023 +-----------------------------------------------------------------------------+ | NVIDIA-SMI 520.61.05 Driver Version: 520.61.05 CUDA Version: 11.8 | |-------------------------------+----------------------+----------------------+ | GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC | | Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. | | | | MIG M. | |===============================+======================+======================| | 0 NVIDIA RTX A6000 On | 00000005:09:00.0 On | Off | | 30% 39C P8 14W / 300W | 50MiB / 49140MiB | 0% Default | | | | N/A | +-------------------------------+----------------------+----------------------+ +-----------------------------------------------------------------------------+ | Processes: | | GPU GI CI PID Type Process name GPU Memory | | ID ID Usage | |=============================================================================| | 0 N/A N/A 1301 G /usr/lib/xorg/Xorg 40MiB | | 0 N/A N/A 1465 G /usr/bin/gnome-shell 7MiB | +-----------------------------------------------------------------------------+

Switching between iGPU and dGPU Stacks

If you have the additional RTX A6000 dGPU in your system and would like to switch between the iGPU stack and dGPU stack, re-flashing is required.

There are two scenarios where re-flashing is required:

  1. Switching a deployed developer kit between iGPU and dGPU mode

  2. Recovering a non-functioning developer kit

The following options are supported for re-flashing:

  1. NVIDIA SDK Manager (Recommended).

  2. Manual re-flashing with files downloaded from DevZone.


Both re-flashing methods require a separate system (the “flash host”) running an Ubuntu Linux operating system.

Both re-flash procedures have the following prerequisites:

  • A compatible power cable.


    The NVIDIA IGX Orin Developer Kit may not include a power cable compatible with your local electrical requirements.

  • Connection to the internet

  • A keyboard, mouse, and monitor with DisplayPort

  • A standard USB-A to USB-C cable with data enabled (this should come with the Developer Kit box)

  • A flash host running an Ubuntu operating system

  • Connection to the internet from the flash host

Re-flashing Option 1 - with NVIDIA SDK Manager

NVIDIA SDK Manager is an end-to-end development environment setup solution. This process uses SDK Manager to download and install Holopack on the IGX Orin Developer kit.

  1. Make sure your NVIDIA Developer Account is registered for the Holoscan SDK Program to access the latest version of Holopack in SDK Manager.

  2. If you are running a VPN on your host system, log off before flashing the NVIDIA IGX Orin Developer Kit.

  3. Download and install NVIDIA SDK Manager version 1.93 or higher on the flash host. Instructions for downloading installing NVIDIA SDK Manager can be found here.


    Using a virtual machine as your SDK Manager host is not supported.

  4. Login to SDK Manager with the same developer account that was registered with the Holoscan SDK program in Step 1.

  5. Connect the NVIDIA IGX Orin Developer Kit to the host system via the provided USB-C cable (9).

  6. Use the BMC to put the IGX into recovery mode. See subsection Putting the System into Recovery Mode via BMC for steps.

  7. From NVIDIA SDK Manager, download and flash the NVIDIA IGX Orin Developer Kit.


    SDK Manager is an interactive, multi-step installer. Each step prompts the user to provide information. This document provides basic instructions. See the SDK Manager step-by-step instructions for detailed instructions.

  8. In Step 01, select “IGX Orin Developer Kit iGPU”. See Figure 5-4.

    If your system is equipped with an optional RTX 6000 GPU, select “IGX Orin Developer Kit dGPU” in Step 01.


    Figure 5-4. SDK Manager Target Hardware

  9. Make sure the appropriate Hardware Configuration and Target Operating System are selected before advancing. See Figure 5-5.


    Figure 5-5. SDK Manager Hardware Configuration

  10. In Step 02, select “Jetson SDK components” to install Holopack components such as CUDA. See Figure 5-6.


    By selecting this option there is no need to do the Interactive Installation of Holopack after SDK Manager completes the operating system installation.


    Figure 5-6. SDK Manager Target Components

  11. Select “Manual Setup” in the dropdown box of the SDK Manager flash summary screen. See Figure 5-7.


    Figure 5-7. SDK Manager Flash SUmmary


    If you run into the following error:

    ERROR: might be timeout in USB write during flashing, please see Troubleshooting.

  12. The SDK Manager flash proceeds in two stages.

    First, SDK Manager will install the operating system. Follow the on-screen prompts to configure the operating system. The IGX Developer Kit will reboot when the operating system installation completes.

    Next, enter the operating system username and password that you configured to start the second stage of the installation and install Holopack SDK Components. See Figure 5-8.


    The IGX Developer Kit IP address will be automatically assigned by the SDK Manager installer.


    Figure 5-8. SDK Manager SDK Components Installation

  13. The installation summary screen will notify you when the Holopack SDK installation completes. See Figure 5-9. You are now ready to use your IGX Developer Kit.


    Figure 5-9. SDK Manager Installation Details

Re-flashing Option 2 - Manual

The manual re-flash process uses NVIDIA utilities to flash the operating system and firmware directly onto the IGX Orin Developer Kit.

  1. Download the file from NVIDIA DevZone to your x86 flash system. Unzip the zip file.


    wget unzip

  2. Extract the build directory archive contained in the zip file onto the flash host.


    tar xvf Jetson_Linux_R35.4.0_aarch64.tbz2

  3. Extract the sample root file system contained in the zip file into the build directory.


    cd Linux_for_Tegra/rootfs/ sudo tar xvf ../../Tegra_Linux_Sample-Root-Filesystem_R35.4.0_aarch64.tbz2

  4. Configure the flash image.


    cd .. sudo ./ --factory

  5. Connect the NVIDIA IGX Orin Developer Kit to the host system via USB-C port (9).

  6. Put the IGX into recovery mode. (See Putting the System into Recovery Mode via BMC)

  7. Flash the developer kit.


    sudo env ADDITIONAL_DTB_OVERLAY="DgpuDtEfifbSupport.dtbo" ./ igx-orin-devkit internal


    If you run into the error: ERROR: might be timeout in USB write during flashing, please see Troubleshooting.

  8. Continue with the Interactive Installation of Holopack to complete system setup.

© Copyright 2023, NVIDIA. Last updated on Sep 25, 2023.