设备配置

底盘配置

• iRobot Create3
• Firmware: G.5.4

上位机配置

• NVIDIA Jetson Orin NX (16GB)

• L4T: 35.5.0

• Jetpack: 5.1.3
• Distribution: Ubuntu 20.04
• Release: 5.10.192-tegra
• Python: 3.8.10

依赖配置

• Libraries

• CUDA: 11.4.315

• cuDNN: 8.6.0.166

• TensorRT: 8.5.2.2

• VPI: 2.4.8

• Vulkan: 1.3.204

• OpenCV: 4.5.4 without CUDA

• ROS: Galactic