This week Serena and I worked extensively to get cuda working with Tamal’s help. We tried many things from flashing Jetpack5 on the Xavier to flashing Jetpack 4.6.1 on the Jetson Nano but could not get a working pytorch with cuda available combined with a working pyrealsense2. Our plan for Read more…
This week was full of setbacks for our software process. We struggled with setting up the Xavier with Jetpack 5.0 then discovered that it while it allowed us to access CUDA, was difficult to be compatible with the pyrealsense2 library due to the python3 version being python3.8 rather than the Read more…
Lots of work was done but not a lot of progress this week involving the Jetsons(s). Mae and I worked with Professor Mukherjee for several days to get the Jetson Xavier flashed with Jetpack 5.0, which required us to set up the Xavier from anew, including registering it as a Read more…
This week I made a lot of progress with the construction and hardware of the robot. The motor now runs well with the drill battery, 18V to 12V step down, and new Cytron Motor Driver. In the beginning of the week things were a little bit iffy because we Read more…
This week I used openCV’s object multitracking with our Realsense livestream to verify that it works. Then, I integrated openCV’s multitracking and distance readings into our pipeline. Our pipeline now consists of inference, then angle calculation to center the robot to the bottle, inference again to capture objects in the Read more…
This week we prepared for our interim demos this week to show the hardware and software progress for our robot. On the hardware side, we showed our intake mechanism working with a drill. The intake mechanism works with full sized/fixed size water bottles very well. We still need to determine Read more…
This week we worked together to prepare for in class demos by polishing up the robot structure and creating a working prototype of our software system. Meghana and I worked on reducing the weight and friction of the robot by adding caster wheels beneath the structure, which allows the robot Read more…
This week we had demo’s during class. So we started the week by preparing for these demos. We demonstrated the intake mechanism working with a drill and talked more about the construction of the robot and showed our bottle detection algorithm and our iRobot moving towards the bottle. After Read more…
This week, I spent the majority of my time working with Meghana to construct the robot as a whole, especially prototyping and finalizing the build for the intake mechanism. We were able to fully attach the intake mechanism to the front of the robot, as well as the intake ramp Read more…
In my attempt to get inference to perform faster, I realized that I am not actually using cuda because torch.cuda.is_available() returns false. I was unable to install a version of Pytorch on the Xavier through the terminal. After talking to Tamal, I realized that getting cuda on the Jetson Xavier Read more…