RPLiDAR Setup

Reconfiguring the Kernel

When initially plugged in, the RPLiDAR will usually not be automatically assigned to a dev port as a result of the Jetson kernel not being configured properly. But do not fret, Jetsonhacks has created tutorials for reconfiguring the kernel for the TX1 here and the TX2 here.

However, there are a few modifications to the tutorials in order to successfully configure the kernel. In some cases, the Jetson may run from the SSD, so the image would need to be copied over to it. To do so, copy and paste these commands, replace the path to the path of the SSD, and run.

sudo cp arch/arm64/boot/zImage <insert SSD path here>/boot/zImage
sudo cp arch/arm64/boot/Image <insert SSD path here>/boot/Image

Some Helpful Tips

If there are any errors when running the reconfigure scripts, try copying and pasting the commands line by line to find the error source. If there are any issues regarding permission on this line in getKernelSources.sh (or installKernelSources.sh for the TX1):

zcat /proc/config.gz > .config

Instead of running this code follow these steps:

1. In Files, go to Computer > proc
2. Open up config.gz and then, config in gedit.
3. In terminal, type in:

(For TX1)

cd /usr/src/kernel
sudo gedit .config

(For TX2)

cd /usr/src/kernel/kernel-4.4
sudo gedit .config

4. Another gedit window should pop up. Copy everything from the config file from config.gz to the .config file and save it. Then, continue on the next line.