Jetson Xavier AGX Hardware in Jackal

Installation

note

This page outlines the steps for installing the Xavier AGX hardware in Husky. See also the instructions for installing the Jetson software.

Step 1: Remove Mini-ITX Computer

note

Skip this step if you don't have an existing computer.

1. If you have a Mini-ITX computer installed it will need to be removed. Locate the power and communication cable connected to the computer and remove them. If you have any other sensors attached, remove those too. Keep them connected to the Husky plaform.

   

   Disconnecting cables

2. Remove the 4 hex screws from the computer case using a 2.5 mm wrench.

   

   Removing hex screws

3. Gently lift the computer out of the platform and clean the area.

   

   Removing computer

Step 2: Install the Xavier AGX

Custom mounting brackets are available on Github.

1. Print this mount off using a 3D printer. A 0.2 mm layer thickness should be sufficient.

2. Use an allen wrench to remove the support feet from the bottom of the Xavier board by removing the M3 bolts. Place the feet on the 3D printed mount.

3. Attach the Xavier to the mount using four M3x40 screws through the bottom of the mount in the holes for Xavier.

   

   Attaching Xavier AGX to the mount

4. Position the mount with the Xavier over the rear two PEMs on the tray and fasten with M3x6 screws and washers.

   

   Fasten the mount in Jackal

5. Make a power cable that connects to the 12V user power (Molex connector) to a barrel connector with center positive. Refer to the Jackal User Manual for the pinout of the user power.

   danger

   Do NOT plug this into the ITX power plug on the power distribution board.

   

   12V user power