Software Installation

Quickstart

First, clone this repository onto your Jetson development board with

    git clone https://github.com/jonah-gourlay44/gym2real

Pull the docker environment with

    docker pull jonahg1/zeroshotrt

Source Build

If you would rather build your environment from source, start in the gym2real repo and type

    git submodule init
    git submodule update
    ./build
    nvidia-docker build -t {image_name} .

This will take a significant amount of time. Best to grab yourself a coffee and maybe go for a jog at this point.

Post Installation & Usage

Finally, complete the post installation steps with

    sudo scripts/post_inst

A container for the Docker image can be run with

    ./scripts/docker_run {container_name} {image_name}

The value for image_name will be jonahg1/zeroshotrt if you chose to pull from DockerHub, and whatever you named your image otherwise. The container can be started again after exiting with

    docker start -i {container_name}

To build the code in the Docker container type

    colcon build

From the ‘workspace’ directory