diff --git a/docs/hw/jetson_hookup.md b/docs/hw/jetson_hookup.md index 4cf8faae..cc70105a 100644 --- a/docs/hw/jetson_hookup.md +++ b/docs/hw/jetson_hookup.md @@ -42,16 +42,16 @@ This can be powered from the unregulated battery port of the Create® 3 adapter - Jetson Xavier NX Developer Kit - Custom power cable (JST-XH to DC 5.5 mm x 2.5 mm plug) - [DC power plug (5.5 mm x 2.5 mm)](https://a.co/d/cfNWywP) - - [USB data cable (USB Micro-B to USB-C®)](https://a.co/d/dnlCj1d) + - [USB data cable (USB Micro B to USB-C®)](https://a.co/d/dnlCj1d) - Jetson Xavier Developer Kit mount ([STL file](./data/models/Compute/NVIDIA_Jetson/Adapter_Mount/C3-JetsonXavierNX-Mount.stl)) - Sensor mount plate (STL file) - [M3 standoff/spacer x4](https://a.co/d/f1QWGB3) - M3 screws -The [Jetson Xavier NX™ Developer Kit](https://developer.nvidia.com/embedded/jetson-xavier-nx-devkit) has a 5.5 mm x 2.5 mm barrel connector jack (J16) for power (9 V to 20 V) and a USB Micro-B port (J5) for upstream data.
+The [Jetson Xavier NX™ Developer Kit](https://developer.nvidia.com/embedded/jetson-xavier-nx-devkit) has a 5.5 mm x 2.5 mm barrel connector jack (J16) for power (9 V to 20 V) and a USB Micro B port (J5) for upstream data.
This can be powered from the unregulated battery port of the Create® 3 adapter board by using a JST-XH female connector to DC barrel plug cable. -The data connection is established by using a USB Micro-B to USB-C® cable, which requires some software tweaking to allow the communication between the Create® 3 robot and Jetson. See [this page](../setup/jetson.md). +The data connection is established by using a USB Micro B to USB-C® cable, which requires some software tweaking to allow the communication between the Create® 3 robot and Jetson. See [this page](../setup/jetson.md). ![Hookup diagram for Jetson Xavier NX™ Developer Kit](data/hookup_jetson_xavier_nx.jpg "Jetson Xavier NX™ Developer Kit") @@ -79,8 +79,8 @@ You can 3d-print the sensor mount plate. To fix the plate at a raised height, you can use M3 spacers like [this](https://a.co/d/f1QWGB3) to allow the sensor to have unobstructed view. ## NVIDIA® Jetson Nano™ 2GB -The Jetson Nano™ 2GB has a USB-C® port (J2) for power and a USB Micro-B port (J13) for downstream data. -This can be connected to the Create 3 robot most simply using a USB-C® hub and two cables -- USB A to Micro-B and USB A to USB-C®. +The Jetson Nano™ 2GB has a USB-C® port (J2) for power and a USB Micro B port (J13) for downstream data. +This can be connected to the Create 3 robot most simply using a USB-C® hub and two cables -- USB A to Micro B and USB A to USB-C®. ![Hookup diagram for Jetson Nano™](data/hookup_nano2gb.jpg "Jetson Nano™ 2GB") [^1]: USB-C® is a trademark of USB Implementers Forum. diff --git a/docs/setup/jetson.md b/docs/setup/jetson.md index b67906b2..c156eb0e 100644 --- a/docs/setup/jetson.md +++ b/docs/setup/jetson.md @@ -215,7 +215,7 @@ Perform the following in the ROS 2 container. If you need a reliable wired communication between Create® 3 and Jetson™, you can connect them via a USB cable and let them establish a virtual Ethernet connection over the USB data communication. -Jetson's upstream USB port (USB-C for the case of Jetson Orin Nano Developer Kit and micro-B for the case of Jetson Xavier Developer Kit) is conveniently set up in such a way to present a virtual network card to the host system, so Create® 3 and Jetson can form a virtual Ethernet connection over the USB link. +Jetson's upstream USB port (USB-C for the case of Jetson Orin Nano Developer Kit and Micro B for the case of Jetson Xavier Developer Kit) is conveniently set up in such a way to present a virtual network card to the host system, so Create® 3 and Jetson can form a virtual Ethernet connection over the USB link. However, because Create® 3 expects the client device to have a specific IP address (`192.168.186.3`), we need to tweak the Jetson's "USB Device Mode" functionality, that is designed to run a DHCP server on Jetson side to assign IP address to other device by default.