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 last pip install compatible version python3.7. This means that we will have to build the pyrealsense2 library through cmake, which we will be attempting this coming weekend/week. When we reached this roadblock we initially attempted to reflash the Xavier with Jetpack 4 but discovered that the updated QSPI (on board memory) that we modified to be compatible with Jetpack 5.0 then was not compatible with Jetpack 4, which means the Xavier no longer boots. Moving on to the Nano, we found that CUDA was available but that building the pyrealsense2 library was causing issues, and the limited memory on the device was severely hampering our progress installing packages. We spent significant time this week going through this process but have some hope since building pyrealsense2 on the Jetpack 5.0 version of the Xavier is still something we haven’t attempted fully.
For our hardware, we were able to put together the new motor driver, the step down converter for the drill battery, and our arduino together to power and drive the motor at a more than adequate speed, which is a great success. We will work next week to fine tune the speed and figure out how we are going to communicate with the Jetson.
Next week we will work to get our software system up and running again, and work on streamlining communication between software and hardware.
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