NVIDIA Jetson TX1

[doctorflems]

I am aware that LabView cannot be used to program the JTK1, but that alone does not mean it is entirely incompatible. What I/O does the JTK1 have that can be used for bi-directional communication with the RoboRIO?

[marshall]

Originally Posted by doctorflems

I am aware that LabView cannot be used to program the JTK1, but that alone does not mean it is entirely incompatible. What I/O does the JTK1 have that can be used for bi-directional communication with the RoboRIO?

• Ethernet/TCP/IP/UDP/Etc...
• Serial
• I2C
• SPI
• Bit Banging
• Smoke signals but letting the magic smoke out would be bad obviously...
• Class 1 laser optic transceiver system: http://www.instructables.com/id/Laser-Transceiver/

Before you pick one... ask yourself what data you are sending and where, and why you are sending it. Some data that gets sent does not always need to get sent...

We used NetworkTables last year but we've found it to be slow for our purposes this year so we are investigating alternatives.

[doctorflems]

Originally Posted by marshall

Before you pick one... ask yourself what data you are sending and where, and why you are sending it. Some data that gets sent does not always need to get sent...

The data that needs to be sent:
1D array of
integer: target type (enumerated)
cluster: target location
X
Y
float numeric: distance to target

I'm thinking serial, and flattening all the data into a string, and then unflatten it on the RoboRIO.

[sanelss]

Anyone using a ZED with a TX1? I have it working on a tk1 but still run into issues with image corruptions. I had to buy a mini pci-e USB module for the mouse and keyboard otherwise it was completely unusable with the zed going over a hub. So now only have the zed is on the usb 3 port but it still has sporadic image corruption. At least it's semi-usable now but still dog slow. The depth viewer only achieves around 5-8fps and some other examples not much better than that so if anyone has some data on the tx1 that would be awesome before we spend the money on something that may not be much, if any, better

[Greg McKaskle]

By the way, the LV network tables implementation allows you to control the update rate of the client/server, and it includes a flush call to force a send. Using the flush, and perhaps the rate, you should be able to get NT to have as little latency as a TCP implementation.

I'm not sure how much of this was incorporated into the v3 or network tables, but it was discussed.

Of course if the kids wanna write their own stuff, that is fine too.

Greg McKaskle

[dusty_nv]

Originally Posted by sanelss

Anyone using a ZED with a TX1? I have it working on a tk1 but still run into issues with image corruptions. I had to buy a mini pci-e USB module for the mouse and keyboard otherwise it was completely unusable with the zed going over a hub. So now only have the zed is on the usb 3 port but it still has sporadic image corruption. At least it's semi-usable now but still dog slow. The depth viewer only achieves around 5-8fps and some other examples not much better than that so if anyone has some data on the tx1 that would be awesome before we spend the money on something that may not be much, if any, better

With Jetson TX1 + ZED, I get 15 FPS out of the box (in HD mode) with the ZED SDK Depth Viewer tool. I often run it through a USB3 hub with the keyboard/mouse attached to that. Here's a link to ZED SDK for JTX1: https://www.stereolabs.com/download_....9.2_alpha.run

Regarding your keyboard/mouse mini-PCIe USB setup, have you tried using the USB OTG port (normally used for flashing). With the converter you can plug USB2 peripheral(s) into it.

Best regards,
Dustin

[billbo911]

Originally Posted by dusty_nv

Hello FIRST teams from NVIDIA Jetson team! Happy kickoff day to everyone!



...
Also, Jetson TK1 is included in the Kit of Parts. You can obtain with FIRST credits.

...

OK, yes we are interested, but maybe I'm missing something. If I am reading this correctly, we should be getting one in the KOP, or by PDV. I read this entire thread, looked on TIMS, but I'm not seeing how to acquire this amazing board. I see the discount of $299 for the Dev Kit. Is that what you are referring to?

What is the process to claim this beast?

[Ben Wolsieffer]

Originally Posted by billbo911

OK, yes we are interested, but maybe I'm missing something. If I am reading this correctly, we should be getting one in the KOP, or by PDV. I read this entire thread, looked on TIMS, but I'm not seeing how to acquire this amazing board. I see the discount of $299 for the Dev Kit. Is that what you are referring to?

What is the process to claim this beast?

I believe what they meant to say was that it was available in FIRST Choice. That's how we got ours.

[billbo911]

Originally Posted by lopsided98

I believe what they meant to say was that it was available in FIRST Choice. That's how we got ours.

Ah, OK, I see your logic and have to agree that is what they meant.
Too bad what they said and what they meant are not the same.

[Chief Hedgehog]

Originally Posted by billbo911

Ah, OK, I see your logic and have to agree that is what they meant.
Too bad what they said and what they meant are not the same.

Nope. They stated it the way that they meant. FIRST Choice is considered part of the KOP.

http://www.firstinspires.org/resourc...6-kit-of-parts

[sanelss]

Originally Posted by dusty_nv

With Jetson TX1 + ZED, I get 15 FPS out of the box (in HD mode) with the ZED SDK Depth Viewer tool. I often run it through a USB3 hub with the keyboard/mouse attached to that. Here's a link to ZED SDK for JTX1: https://www.stereolabs.com/download_....9.2_alpha.run

Regarding your keyboard/mouse mini-PCIe USB setup, have you tried using the USB OTG port (normally used for flashing). With the converter you can plug USB2 peripheral(s) into it.

Best regards,
Dustin

I was not aware that was an otg port, if it is I guess I could try that too.

the tk1 gets 5-7fps with the depth viewer on 720p so it sounds like the tx1 is ~3x faster with that type of load(assuming by hd you mean 720p rather than any of the higher resolutions). certainly an improvement but not as much as one would hope and the other question is if it's worth spending $300 for that...... corrupt frames are still an issue though so it may be worth the upgrade just to mitigate that issue...

[dusty_nv]

Originally Posted by billbo911

OK, yes we are interested, but maybe I'm missing something. If I am reading this correctly, we should be getting one in the KOP, or by PDV. I read this entire thread, looked on TIMS, but I'm not seeing how to acquire this amazing board. I see the discount of $299 for the Dev Kit. Is that what you are referring to?

What is the process to claim this beast?

It's slightly confusing, because there are actually two NVIDIA boards you can use as part of FIRST. There's the Jetson TK1 (quad-core ARM Cortex-A15 and 192 CUDA-enabled GPU cores, providing ~325 GFLOPS of compute), which was part of FIRST Choice again this year, but is now sold out in AndyMark - but if your team still wants to use Jetson TK1, you can order directly from here. Since the list market price of Jetson TK1 is less than $400 (it's $192), it is permitted by the rules to be purchased outside of Kit of Parts and to be used on FRC robots.

On the other hand, if you want to use the latest-and-greatest Jetson TX1 (quad-core 64-bit ARM Cortex-A57 and 256 CUDA cores, providing ~1024 GFLOPS of compute), this board is available to FIRST through our academic discount here. Fill out the form, including your info and FRC team number, and in a few days you will receive the discount code via email. Then enter this promo code when ordering. With the discounted price of TX1 also under $400 (it's $299), it is also permitted by FRC rules to be included on your robots.

Please don't hesitate to get in touch if you have questions or concerns!

Thanks -
Dusty

[dusty_nv]

Originally Posted by sanelss

I was not aware that was an otg port, if it is I guess I could try that too.

the tk1 gets 5-7fps with the depth viewer on 720p so it sounds like the tx1 is ~3x faster with that type of load(assuming by hd you mean 720p rather than any of the higher resolutions). certainly an improvement but not as much as one would hope and the other question is if it's worth spending $300 for that...... corrupt frames are still an issue though so it may be worth the upgrade just to mitigate that issue...

The team at Stereolabs has been working with our optimization guru's over here at NVIDIA, so there's a chance that the performance gains could continue to improve throughout the season. If the speed/throughput of the stereo disparity calculations is your primary concern, there are a couple approaches you could take to mitigate - Stereolab's disparity depth field is high-quality - you could try using stereo block matching from VisionWorks or OpenCV which may be acceptable to your application. If you want to offload the formulation of the stereo depth field, there are also various structured light and time-of-flight sensors available which provide the depth field straight away, leaving more headroom for exploitation on the host.

[Nemo]

How does one deliver 19V power to a TX1?

Edit: Better question: how low can the voltage go and still run the TX1 development kit?

[bhsrobotics1671]

Originally Posted by Nemo

How does one deliver 19V power to a TX1?

Edit: Better question: how low can the voltage go and still run the TX1 development kit?

We have the same question. The box shows it's rated for 5.5-19.6v. We were having some issues running it on 12v last night. Just curious to see if other teams have found another solution already?