Does jetson agx orin with jetpack6 not support peak_can device?

[zh20210976]

Hi. Nvidia expert.

I have a robotics project using jetson agx orin 64GB.

I will use one Allegro hand. It is a 5f robotic dexterous hand.It provides us with a LAIKE usb2can adaptor which can be seen in the following picture.

We followed [quote=“tmddnjs0507, post:1, topic:328702, full:true”] and tried to add the gs_usb kernal into our jetpack6. But it failed, we still could not find our target peak_can device.

We compared defconfig.jetpack_5_1_2.txt with defconfig.jetpack_6_0.txt and found there was no declaration like"CONFIG_CAN_PEAK_USB=m" in defconfig.jetpack_6_0.txt. So does our problem have something to do with that?

It will be greatly appreciated if someone could provide any useful advice.

[zh20210976]

We’ve made it! The problem lies in the PCAN driver. According to the Allegro_hand_v5_ROS2 github, the PCAN driver isn’t needed anymore in ROS2. But when we reloaded the PCAN driver and retried, the hand got connected smoothly and could be controlled through its official package.

So maybe next time getting through such kind of problems on Jetson jetpack6, installing a PCAN driver is likely to be a useful option.

[KevinFFF]

Hi zh20210976,

Are you using the devkit or custom board for AGX Orin?
What’s the Jetpack version in use?

Please share the result of the following command on your board.

$ zcat /proc/config.gz |grep -E "CONFIG_CAN_GS_USB|CONFIG_CAN_PEAK_USB"

You can also check if Does jetpack 6.0 not support gs_usb(usb to can)? - #19 by luciano.vieira can help for your use case.