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Testing configuration of low-power wifi adhoc networks on Jetson Orin Nano.

Configuration Attempts

1. First Steps:

  • Tried with Jetson SDK Desktop at first: https://developer.nvidia.com/embedded/jetpack-sdk-60
  • Disabled network manager service to avoid fighting configurations.
  • Result: Onboard Realtek wifi hardware/drivers report adhoc (ibss) available, but commands failed silently.

2. Eliminating OS/Drivers Setup:

  • Update BIOS
  • Flash ubuntu server 22 for Jetso Orin Nano: https://ubuntu.com/download/nvidia-jetson
  • Update general ubuntu packages 
     sudo apt dist-upgrade
 sudo reboot
  • Install nvidia-tegra drivers per doc Install NVIDIA proprietary software 
    sudo add-apt-repository ppa:ubuntu-tegra/updates
sudo apt install -y nvidia-tegra-drivers-36
sudo usermod -a -G render,video ubuntu
sudo reboot
    • WARNING: When using Ubuntu Desktop 22 from Jetson SDK, installing the nvidia-tegra drivers inexplicably nukes all other drivers (display, network, etc) on the device.
  • Install ubuntu package iw to manage wireless config 
    sudo apt install -y iw
  • Result: Onboard Realtek wifi hardware/drivers report adhoc (ibss) available, but commands still failed silently.

3. New NIC Hardware Try:

4. Add GUI Components (optional)

  • sudo apt install slim ubuntu-desktop

Test scripts, testing mesh mode.

  • sudo apt install iw
  • sudo ./iwup.sh
  • python3 ping.py

Testing Mesh Network recovery

  • Given nodes A, B, C, D arranged "linearly" by position and physical wireless links: 
    A ---------- B ------------- C ---------- D
    802.11s will automatically route the entire network from/to each node
  • When the network topology fragments, e.g. 
    A ---------- B               C ---------- D
    • Naturally cell division will occur and nodes A,B will still be able to communicate with each other, as will C,D. Connection drops can be simulated by simply setting TX power to 0, which will limit viable connection range to a few feet.
  • When either A,B and C,D come back within range of each other, the network will re-merge and be restored for full routing from/to each node once again. 
    B ---------- A ------------- C ---------- D
    • Note: In simple wireless adhoc mode, this remerge after fragmentation is unreliable, and in fact even first ad-hoc network initialization can result in cell division despite what should be viable physical wireless links.

ROS2

Per https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update && sudo apt upgrade -y

And either ROS default graphical bundle if using wiith Ubuntu Desktop, ROS2 and RViz will be installed

sudo apt install ros-humble-desktop

OR just ros-base for ROS2 CLI-only

sudo apt install ros-humble-ros-base

MQTT2UDP (future ROS2UDP) Bridge

We create an example of using UDP to bridge MQTT messages with conceptually similar publish/subscribe functionality. While in this case there is a shared MQTT broker, a drop-in replacement with ROS2 would have each device subscribing and publishing to its own respective local ROS instance.

Next Steps

  • Set ROS to loopback only (don't let it interact with mesh subnet)
  • Setup Isaac ROS Dev Base containers