NVIDIA Jetson AGX Orin Setup Guide
The Jetson AGX Orin from NVIDIA is a single-board computer that supports modern AI workloads and application development.
Follow this guide to set up the Jetson AGX Orin Developer Kit to prepare your NVIDIA Jetson AGX Orin for
This guide assumes that you have a Jetson AGX Orin Developer Kit with a Jetson AGX Orin module and reference carrier board. If you want to use a different carrier board to incorporate your Orin into your machine, the type of carrier board you use will affect your hardware requirements.
CAUTION: Use 3.3V inputs and outputs
The GPIO pins on Jetson boards are rated 3.3V signals. 5V signals from encoders and sensors can cause damage to a pin. We recommend selecting hardware that can operate 3.3V signals or lower. For details, see your boards specification.
You need the following hardware, tools, and software to install
viam-server on a Jetson AGX Orin with the Jetson AGX Orin Developer Kit:
Initial setup with display attached:
- A Jetson AGX Orin Developer Kit
- A PC monitor (HDMI or DisplayPort)
- USB keyboard and mouse
- A DisplayPort to HDMI adapter/cable, to connect the Orin to the monitor
- USB Type-C power supply, to power the Orin (included with the AGX Orin Developer Kit)
- (Optional) Ethernet cable, to connect the Orin to the internet without Wifi access
Initial setup in headless mode:
An internet-connected Windows, Linux, or macOS computer
A way to connect the computer to the Orin (for example, the USB Type-A to USB Type-C Cable included with the AGX Orin Developer Kit)
(Optional) If your computer doesn’t have a USB Type-A port, you may need to attach a USB-C hub or similar device to your computer to connect to the Orin
USB Type-C power supply, to power the Orin (included with the AGX Orin Developer Kit)
(Optional) Ethernet cable, to connect the Orin to the internet without Wifi access
Jetson Orin setup guide
Follow the instructions in Getting Started with Jetson AGX Orin Developer Kit to boot up your Orin for the first time.
If you have already booted up your Orin, start with “Step 2 - Install JetPack Components” to make sure you have installed the latest NVIDIA JetPack components.
Look at the Troubleshooting section below for help navigating these instructions. Once you have reached Next Steps, return to the Viam docs.
viam-server installation with
curl is not installed on your Orin, run
sudo apt install curl before downloading the
If this command fails, try using
wget https://storage.googleapis.com/packages.viam.com/apps/viam-server/viam-server-latest-aarch64.AppImage to download the
viam-server is distributed for Linux as an AppImage.
The AppImage is a single, self-contained binary that runs on 64-bit Linux systems running the
x86_64 architectures, with no need to install any dependencies.
Go to the Viam app and add a new machine by providing a name in the New machine field and clicking Add machine. If this is your first time using the Viam app, you must create an account first.
On the Setup tab, select
Follow the steps shown on the Setup tab to install
viam-serveron your Linux computer.
Once you have followed the steps on the Setup tab,
viam-serveris installed and running. Return to the Setup page on the Viam app and wait for confirmation that your computer has successfully connected.
viam-server will start automatically when your system boots, but you can change this behavior if desired.
- Install E-Con Systems e-CAM20_CUOAGX AR0234 driver. Consult the instructions you received when purchasing your device for more information.
- Ensure the driver has successfully installed by running
sudo dmesg | grep ar0234. The output should include
ar0234 Detected Ar0234 sensor.
- Connect the AR0234 camera module and daughterboard to the J509 port located at the bottom of the Developer Kit.
- Configure the camera as a webcam.
Serial communication protocol tips
To change the pins that are in use for modes of serial communication, launch
In the interactive menu that opens, select Configure Jetson 40 Pin Header and Configure header pins manually to select and deselect pins to enable use. For a Jetson AGX Orin, reference the following:
|Data Sheet ID
|GPIO Header Pin
|Viam Bus ID
/dev Path ID
|SPI1_DOUT, SPI1_DIN, SPI1_SCK, SPI1_CS0, SPI1_CS1
|19, 21, 23, 24, 26
|Must be enabled to use SPI bus, must add
Note that I2C buses do not need to be configured through
Before you can program a machine, you must configure its components and services as well as any modules, remotes, processes and frames.
NVIDIA Step 1 - Run through Ubuntu Setup (oem config)
- Headless Mode Tips:
- Once you reach step e which instructs you to connect through the host serial port, the instructions to connect are immediately under step e. Follow those steps according to the type of computer you’re using.
- After running
sudo screen, note that the
Passwordinput prompt immediately following refers to your computer’s system password.
- “Jetson Initial configuration” (oem-config) Command Prompt Tips:
- App Partition: default is fine.
- Nvomodel mode: default is fine.
- Chromium install: not necessary, you can skip.
- Signing into online accounts: not necessary, you can skip.
- Headless Mode Tips:
NVIDIA Step 2 - Install JetPack Components
- After running
sudo apt dist-upgrade, if you are prompted with “Package distributer has shipped an updated version” hit
yto install the updated version.
- Do not run
sudo apt install nvidia-jetpackin your terminal until after
sudo reboothas completed.
- If your board is powered off after
sudo reboothas completed and refuses to turn on, disconnect and reconnect the power cable.
- It is normal for JetPack installation to take a very long time, up to an hour or more.
- After running
If you do not see an interactive menu after launching
jetson-io.py, try resizing your window to a large size.
You can find additional assistance in the Troubleshooting section.
You can also ask questions in the Community Discord and we will be happy to help.
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