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osrf / ovc

the Open Vision Computer
Apache License 2.0
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request for information #29

Open AndreV84 opened 4 years ago

AndreV84 commented 4 years ago

Hi Guys, I am working on the integration of ROS [ moveit, rviz, etc] with Nvidia IsaaC SDK/ Jetson devices. I was advised to study your project as it uses nvidia hardware. Could you let me know if your project supports nvidia jetson Xavier AGX/ nvidia jetson NX, nvidia jetson Nano hardware, please? If it supports - is there a guide how to implement ovc with it? ovc3? ovc4? Regards & Thanks

luca-della-vedova commented 4 years ago

Hi!

We are working literally right now on OVC4 which will be based on the Xavier NX module. Since the module is very new the development is still in its early stage but you can keep an eye on the repo and follow as it progresses. We used OVC3 with Xavier AGX previously, OVC3 is just a USB 3 device so it should work on any Linux machine as long as it runs ROS on Linux and has the driver for USB networking (Ubuntu does by default).

/Luca

AndreV84 commented 4 years ago

Dear Luca, Thank you for your response. Could you point to some detailed guidelines on how to implement OVC 4m given I am totally a newbie with that particular project but have had extensive jetson experience before? Which hardware components will be required to construct the platform? Which custom software implementations will need to be made? What is the extent of complexity for a new user to repeat your steps to implement ovc at their side? Previously I used to follow up nvidia jetbot assembly and configuration. Is ovc something like that? In term of complexity? https://github.com/NVIDIA-AI-IOT/jetbot/wiki Will ovc be much more difficult to implement from scratch for a newbie who never used ovc before? could you point out to documents to start getting familiar with the project, please?

luca-della-vedova commented 4 years ago

OVC4 literally started a few weeks ago, right now the hardware itself is still in the design stage. Until we finish the design it will not be possible to build it (unless you finish the design yourself, but it's not an easy task). After finishing the hardware design we would need to go into firmware (i.e. kernel modules for the cameras) and software (i.e. the ROS driver), before all those steps are done I doubt it can be useful to an end user.

Once it is done I expect all you would need to do is fabricate the PCB (if you are not sure how to do that you can outsource it to an external company), buy a Xavier NX module and assemble everything together. I expect it to be not too bad for someone who is familiar with Linux and the Nvidia tools but can't be sure until the design is finished.

Apologies if I can't be more precise but we are still defining what OVC4 will look like since it's very early.

On Mon, Apr 27, 2020 at 9:14 PM Andrey Volodin notifications@github.com wrote:

Dear Luca, Thank you for your response. Could you point to some detailed guidelines on how to implement OVC 4m given I am totally a newbie with that particular project but have had extensive jetson experience before? Which hardware components will be required to construct the platform? Which custom software implementations will need to be made? What is the extent of complexity for a new user to repeat your steps to implement ovc at their side? Previously I used to follow up nvidia jetbot assembly and configuration. Is ovc something like that? In term of complexity? https://github.com/NVIDIA-AI-IOT/jetbot/wiki Will ovc be much more difficult to implement from scratch for a newbie who never used ovc before? could you point out to documents to start getting familiar with the project, please?

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poudyalbot commented 4 years ago

Will it support Jetson Nano..... And will the camera and imu be hardware synchronised. Will ovc4 will not have fpga.

luca-della-vedova commented 4 years ago

Hi!

Yes the cameras will be hardware synchronised (it's the main feature we are building it for). Regarding Nano compatibility, we are designing for Xavier NX which is mostly pin compatible. I expect you should be able to use most features with Nano (except maybe some of the cameras since iirc the new module supports more cameras in parallel.

Also there will not be any FPGA for this version, I suggest sticking to OVC3 if you want an FPGA, but we plan to implement an MCU to have the hard realtime features (i.e. triggering / exposure control).

On Fri, May 1, 2020 at 10:20 AM poudyalbot notifications@github.com wrote:

Will it support Jetson Nano..... And will the camera and imu be hardware synchronised.

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poudyalbot commented 4 years ago

Thank you for ur quick reply. Looking forward to this project.