OpenCr + NVIDIA Jetson Nano Developer Kit - B01

Autonomous Machines Jetson & Embedded Systems Jetson Nano
1

Hello,

I modify the turtlbot3 burger and replace the RPi3 with the NVIDIA Jetson Nano Developer Kit - B01.

On the OpenCR (http://emanual.robotis.com/docs/en/platform/turtlebot3/compatible_devices/) we have +5V max 4A available.

In the original setup turtlebot3 Burger the RPi3 power cable is connected to the GPIO pin4(+) and pin6(-).

Can I do the same with the GPIO on the NVIDIA Jetson Nano Developer Kit - B01. Can U connect the 5V/+4A from OpenCR to the GPIO of the NVIDIA Jetson Nano Developer Kit - B01
What is the max. current input that this GPIO can handle. Is it only 3A?

Is there another pin header I can use?

Or is it best to modify the cable and provide the power to the barrel jack. If I do this do I need to set a jumper.

Regards,
Joeri

3

Hi, please refer to chapter Power Guide in this doc: https://developer.nvidia.com/embedded/dlc/Jetson_Nano_Developer_Kit_User_Guide

4

Thanks!

6

JRV, were you able to get the TB3 running on a Nano? I am having issues with the OpenCR card being recognized when plugged into any USB port. The Lidar works but not the Motor Control board (Open CR). Any help or workarounds would be great …

7

No I was not able to get ROS TB running on the Nano.
Today, I communicate with python to OpenCR (no ROS implementation), mainly to check if the board works.

Have you try to set the permissions chmod - Changing permissions on serial port - Ask Ubuntu
maybe this helps.

8

Hmm, if the OpenCR board is accessible from python then it’s being found on your Nano … can you see is it /dev/ttyUSB 0 or 1 or /dev/ttyACM0 ?? I’d already added myself to the dialout group. What I’m experiencing is that my OpenCR board when plugged into the nano is not recognized … meaning there is no new /dev/ttyXXX being seen and I can’t see it under lsusb either. Let me know if you had to do something special to get the Nano to see the OpenCR board. Thanks in advance.

9

What I currently do is I use OpenCR as U2D2, see https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#opencr-and-opencm-tutorials ( upload usb_to_dxl firmware ( File → Examples → OpenCR → 10.Etc → usb_to_dxl ). Then I use /dev/ttyACM0 port on the Nano. I am able do communicate to dynamixel motors via OpenCR using Python on Nano or Linux (or via COM using windows). The only thing I had do set was the permissions of /dev/ttyACM0. Currently it is a non-ROS implementation.