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FRC-2024-Vision

Coprocessor code for 2024

Cloning this repo

This repository uses Git LFS.

First, install Git LFS:

curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | sudo bash
sudo apt install git-lfs
git lfs install

Next, clone the repo:

git clone https://github.com/titan2022/FRC-2024-Vision

Running the code

First install the dependencies (as listed below), and build Titan-Processing in ../Titan-Processing. Then, you can do:

cd src
python3 example-webcam.py

Autostart (Jetson Nano)

First, please go into the Unity network settings, click "Edit Connections...", and for each network connection, edit the connection and select "General->All users may connect to this network".

Next, go into this directory and run ./autostart-jnano.sh and reboot. To return to the desktop, run ./no-autostart-jnano.sh and reboot.

To see the status, run systemctl status titan2022. To see the full logs, run journalctl -u titan2022 -b. To follow the logs, run journalctl -u titan2022 -f. To stop the service, run sudo systemctl stop titan2022.

Install dependencies

Jetson Nano installation

On a stock JetPack 4.6.1 / Ubuntu 18.04 installation, run:

wget -qO- https://raw.githubusercontent.com/titan2022/FRC-2024-Vision/main/setup-jnano.sh | bash

Install conda/miniforge

First, please have Conda installed on your computer. If it's not installed, please install Miniforge3, which includes Conda and a conda-forge based Python environment. You can install Miniforge3 using the following command:

wget "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-$(uname)-$(uname -m).sh"
bash Miniforge3-$(uname)-$(uname -m).sh
rm Miniforge3-$(uname)-$(uname -m).sh

Close and reopen your shell, and run:

# Prevent Conda from polluting your environment when you're not working on Conda-managed projects.
conda config --set auto_activate_base false

Install dependencies with Conda

Now, you can use Conda to install the dependencies.

conda env create -f environment-cpu.yml # or -cuda -intel -jnano
conda activate FRC-2024-Vision

(This might not be necessary) Install a OpenCL implementation.

  • If you already have an OpenCL implementation, conda install ocl-icd-system
  • On the Jetson Nano:
    • TODO
  • On any system with CUDA, conda install pocl-cuda
  • On an Intel GPU, conda install intel-compute-runtime

If you modify environment.yml, please run

conda env update -f environment-cpu.yml