Rizmo

Code for my robot, Rizmo.

Hardware

TODO

Software Setup

1. Install OS:
   1. Write the Jetson Nano Developer Kit SD card image to a microSD card (instructions).
   2. Power up and install OS.
      • Hostname: rizmo
   3. Remove unnecessary programs. Install updates.
2. Setup SSH:
   1. Copy ~/.ssh/id_rsa.pub of dev machine to ~/.ssh/authorized_keys on Jetson Nano.
   2. Set permissions: chmod 700 ~/.ssh && chmod 600 ~/.ssh/authorized_keys
3. Install and setup pyenv (instructions).
   • To update: pyenv update
4. Install Python 3.12: pyenv install 3.12 && pyenv global 3.12
   • The latest version is installed and set to the default.
5. Set the default audio IO device:
   1. List devices:

      pactl list short sinks
      pactl list short sources
      

   2. Append lines to /etc/pulse/default.pa:

      set-default-sink <sink-name>
      set-default-source <source-name>
      

6. Install the jetson_inference library:
   1. Follow these instructions to install it from source to the system's Python 3.6 site packages.
   2. Create a Python 3.6 venv:
      python3.6 -m venv --system-site-packages --symlinks venv36
   3. Update pip and make sure the lib can be imported:

      . venv36/bin/activate
      pip install -U pip
      pip install -r requirements.py36.txt
      python -c "import jetson_inference"
      

Repository Setup

git clone https://github.com/austin-bowen/rizmo.git
cd rizmo
python -m venv --symlinks venv
. venv/bin/activate
pip install -U pip
pip install -r requirements.txt

# For sounddevice lib
sudo apt install libportaudio2

# For serial communication
sudo usermod -aG dialout $USER

Setup git:

git config --global user.name "<name>"
git config --global user.email "<email>"
git config credential.helper store

# When trying to push, enter username, and paste personal access token
# generated from here: https://github.com/settings/tokens

Create file rizmo/secrets.py with the following contents:

AWS_ACCESS_KEY_ID: str = ...
AWS_SECRET_ACCESS_KEY: str = ...

OPENAI_API_KEY: str = ...

Upgrading Python on Jetson Nano

# Install latest Python version
pyenv update
pyenv install 3.12

# Create new venv
mv venv venv.old
python -m venv --symlinks venv
. venv/bin/activate
python -V
# <verify it is using latest version>

# Install requirements
pip install -U pip
pip install -r requirements.txt
# <verify everything is working>

# Cleanup
rm -r venv.old
pyenv versions
pyenv uninstall <old-version>