NOVA Init

NOVA Init is a Debian package that sets up a sensor suite for a robot, modifying a Jetson Orin to run sensor software efficiently and effectively. Currently, the only supported robot is Carter 2.3.

NOVA init can be downloaded with the NGC client. Follow the steps below to install it:

1. Check if the client is installed.

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   which ngc
           

2. If it’s not installed, download and install the NGC client using the following commands.

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   wget --content-disposition https://ngc.nvidia.com/downloads/ngccli_arm64.zip && unzip ngccli_arm64.zip && chmod u+x ngc-cli/ngc
   s="export PATH=\"\$PATH:$(pwd)/ngc-cli\""; f="$HOME/.bashrc"; grep -qxF "$s" $f || echo "$s" | tee -a $f && source $f
           

   Note

   Official documentation can be found at https://ngc.nvidia.com/setup/installers/cli under “ARM64 Linux”; however, the commands listed there should not be used in this case.

3. Configure the NGC client to give access to Isaac resources. Use the API key that was generated during robot setup to run the following:

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   ngc config set
           

Follow these steps to download and install NOVA Init:

1. Download NOVA Init from NGC using the following command:

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   ngc registry resource download-version "<your-staging-area>/nova_init"
           

2. Once the nova-init Debian package is downloaded, change directory to the download folder and install it:

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   cd $(ls -td nova_init_v* | head -1)
   sudo apt install ./nova-init_*_arm64.deb
           

Upgrade NOVA Init by referencing the same NGC server used previously. Whenever a new version is released, it will be updated under the Resoures section and can be downloaded with the same installation commands:

            

            
ngc registry resource download-version "<your-staging-area>/nova_init"
cd $(ls -td nova_init_v* | head -1)
sudo apt install ./nova-init_*_arm64.deb
        

NOVA init can be removed by running the following:

            

            
sudo apt remove nova-init
        

The removal of NOVA Init will attempt to revert all settings to their assumed original state on the robot.