Add gitignore and Jetson page

.gitignore

@@ -0,0 +1,68 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+
+# Scrapy stuff:
+.scrapy
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# virtualenv
+venv/
+ENV/
+
+# MkDocs documentation
+site/

docs/setup/data/nv-l4t-usb-device-mode-runtime-start.sh

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+#!/bin/bash
+
+# Copyright (c) 2017-2020, NVIDIA CORPORATION.  All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+script_dir="$(cd "$(dirname "$0")" && pwd)"
+. "${script_dir}/nv-l4t-usb-device-mode-config.sh"
+
+if [ -f "${script_dir}/IP_ADDRESS_FOR_CREATE3_ROBOT.conf" ]; then
+    robot_ip_conf_file=${script_dir}/IP_ADDRESS_FOR_CREATE3_ROBOT.conf
+    cat $robot_ip_conf_file
+fi
+
+/sbin/ifconfig l4tbr0 up
+# The interface might lose the address when down. Add it here to make sure
+# it's configured.
+/sbin/ifconfig l4tbr0 ${net_ip} netmask ${net_mask}
+/sbin/ifconfig l4tbr0 add ${net_ipv6}
+
+# IF the config file for iRobot Create3 (IP_ADDRESS_FOR_CREATE3_ROBOT.conf) exists, 
+# then apply the static IP address (192.168.186.3), instead of enabling DHCP server
+if [ -n "$robot_ip_conf_file" ]; then
+    static_ip_for_robot=`cat $robot_ip_conf_file`
+    /sbin/ifconfig l4tbr0 $static_ip_for_robot netmask 255.255.255.0 broadcast 192.168.186.255
+    echo "Static IP address set to $static_ip_for_robot"
+else
+
+# Start a DHCP server so that connected systems automatically receive an IP
+# address. This avoids users having to manually configure the connection, and
+# also prevents Network Manager on Linux from destroying any manually applied
+# configuration.
+#
+# The DHCP server must be started here, because it won't start if it's told to
+# run on an interface that's down.
+if [ -n "${net_dhcp_start}" ]; then
+    echo "### IN"
+    dhcpd_conf="${script_dir}/dhcpd.conf"
+    dhcpd_leases="/run/l4t-usb-devmode-dhcpd.leases"
+    dhcpd_pid="/run/l4t-usb-devmode-dhcpd.pid"
+    cat > "${dhcpd_conf}" <<ENDOFHERE
+max-lease-time ${net_dhcp_lease_time};
+default-lease-time ${net_dhcp_lease_time};
+
+subnet ${net_net} netmask ${net_mask} {
+    range ${net_dhcp_start} ${net_dhcp_end};
+}
+ENDOFHERE
+    rm -f "${dhcpd_leases}"
+    touch "${dhcpd_leases}"
+    /usr/sbin/dhcpd \
+        -cf "${dhcpd_conf}" \
+        -pf "${dhcpd_pid}" \
+        -lf "${dhcpd_leases}" \
+        l4tbr0
+fi
+
+# When an interface is set to "down", all routes through it are lost, so we
+# must restore any routes when setting the interface to "up".
+if [ -n "${net_ipv4_defroute_router}" ]; then
+    route add default gw ${net_ipv4_defroute_router} dev l4tbr0 \
+        ${net_ipv4_defroute_metric:+metric ${net_ipv4_defroute_metric}}
+fi
+
+fi
+
+exit 0

docs/setup/jetson.md

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+Connect Create® 3 to NVIDIA Jetson Nano 2GB (and other variants)
+
+## Before you start
+!!! attention
+    **These directions are written for someone with experience with embedded Linux and basic embedded computers.**
+It is highly recommended to read through the following documents before beginning:
+
+* [Getting Started with Jetson Nano 2GB Developer Kit](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-2gb-devkit)
+
+For other Jetson platform:
+
+* [Getting Started with Jetson Nano Developer Kit](https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit)
+* [Getting Started With Jetson Xavier NX Developer Kit](https://developer.nvidia.com/embedded/learn/get-started-jetson-xavier-nx-devkit)
+
+
+## Step-by-step
+
+### Getting Started Guide portion
+
+1. Download the SD card image for your Jetson platform and write onto a microSD card.
+
+2. Complete the getting started guide (listed above) until you complete the initial setup.
+
+### Alter "USB Device Mode" to apply static IP 
+
+1. To alter the Jetson's "USB Device Mode" feature (specifically, disabling DHCP server and self-assign a static IP address);
+
+    1. First, create a flag file to store IP address for Jetson to be used with Create3.
+
+            sudo bash -c 'echo "192.168.186.3" > /opt/nvidia/l4t-usb-device-mode/IP_ADDRESS_FOR_CREATE3_ROBOT.conf'
+
+    2. Then, modify the "nv-l4t-device-mode-runtime" service script (`/opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-runtime-start.sh`). The complete file is [here](data/nv-l4t-usb-device-mode-runtime-start.sh).
+     <br>
+
+2. Connect micro-B end of the USB cable from Create3 robot to the micro-B USB port of Jetson. Then check if the static IP address is set by issuing `ifconfig` command.
+
+        $ ifconfig l4tbr0
+
+        l4tbr0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
+                inet 192.168.186.3  netmask 255.255.255.0  broadcast 192.168.186.255
+                inet6 fe80::1  prefixlen 128  scopeid 0x20<link>
+                inet6 fe80::ecb6:edff:feac:7dd5  prefixlen 64  scopeid 0x20<link>
+                ether ee:b6:ed:ac:7d:d5  txqueuelen 1000  (Ethernet)
+                RX packets 169  bytes 36206 (36.2 KB)
+                RX errors 0  dropped 0  overruns 0  frame 0
+                TX packets 1644  bytes 213306 (213.3 KB)
+                TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
+
+
+!!! note
+    If you ever want to stop using the Jetson device for Create3 and re-enable the original USB Device Mode feature (so that you can connect to your Windows PC in headless style), you can simply remove the flag file, or execute the following.
+
+        sudo mv /opt/nvidia/l4t-usb-device-mode/IP_ADDRESS_FOR_CREATE3_ROBOT.conf /opt/nvidia/l4t-usb-device-mode/IP_ADDRESS_FOR_CREATE3_ROBOT.conf.bak
+
+
+### Start ROS2 Galactic container
+
+The recommended way to run ROS2 on Jetson is to use a pre-built Docker containers.
+
+1. Enable NVIDIA runtime for docker, if this is the first time running Docker containers on Jetson, to allow access to GPU from containers.
+
+    Edit `/etc/docker/daemon.json` to be following.
+
+        {
+            "runtimes": {
+                "nvidia": {
+                    "path": "nvidia-container-runtime",
+                    "runtimeArgs": []
+                }
+            },
+            "default-runtime": "nvidia"
+        }
+
+
+2. Use `jetson-containers`' script to simplify the inovocation of `docker run` command.
+
+```
+git clone https://github.com/dusty-nv/jetson-containers/
+cd jetson-containers
+scripts/docker_run.sh -c dustynv/ros:galactic-ros-base-l4t-r32.6.1
+```
+

mkdocs.yml

@@ -29,6 +29,7 @@ nav:
       - Connect to Wi-Fi: setup/provision.md
       - Multi-Robot Setup: setup/multi-robot.md
       - ROS 2 on a Pi 4: setup/pi4.md
+      - ROS 2 on a NVIDIA Jetson: setup/jetson.md
     - Create® 3 APIs:
       - ROS 2 Interface: api/ros2.md
       - Docking: api/docking.md