NVidia Jetson Xavier AGX

Posted on 2024-07-06 Edited on 2024-10-22 In Single Board Computers , ARM

I got one Jetson AGX Xavier unused for quite long. There are a couple of reasons prohibiting me from using it.

The price. I couldn’t even come up with JUST ONE application that has to use Jetson Embedded Systems without cheaper but qualified replacement.
The host Ubuntu that NVidia SDK Manager supports is ALWAYS one version behind. Which means: I can NEVER run NVidia SDK Manager on my host desktop.

1. My Working Environment

➜  ~ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 24.04.1 LTS
Release:	24.04
Codename:	noble

➜  ~ uname -r
6.8.0-47-generic

2. Jetson Embedded Products

2.1 GPU Compute Capability

Jetson Model	Compute Capability
Jetson Orin Series including: Jetson AGX Orin, Jetson Orin NX, Jetson Orin Nano	8.7
Jetson Xavier Series including: Jetson AGX Xavier, Jetson Xavier NX	7.2
Jetson TX2	6.2
Jetson Nano including: default Jetson Nano 4GB, Jetson Nano 2GB	5.3

2.2 JetPack Version Compatability

Please just refer to JetPack Archive.

2.2.1 Jetson Nano Series

Specification	Jetson Nano 4GB	Jetson Nano 2GB
JetPack Versions	4.2 ~ 4.6.5	4.4 ~ 4.6.5
CUDA Cores	128	128
Compute Capability	5.3	5.3
GPU Architecture	Maxwell	Maxwell
Memory	4GB LPDDR4	2GB LPDDR4
AI Performance	472 GFLOPs	472 GFLOPs

2.2.2 Jetson Xavier Series

Specification	Jetson AGX Xavier 32GB	Jetson AGX Xavier 8GB
JetPack Versions	4.2 ~ 5.1.4	4.4 ~ 5.1.4
CUDA Cores	512	512
Compute Capability	7.2	7.2
GPU Architecture	Volta	Volta
Memory	32GB LPDDR4x	8GB LPDDR4x
AI Performance	11 TFLOPs (FP16)	11 TFLOPs (FP16)

2.2.3 Jetson Orin Series

Specification	Jetson AGX Orin 64GB	Jetson AGX Orin 32GB	Jetson Orin NX 16GB	Jetson Orin NX 8GB	Jetson Orin Nano 8GB	Jetson Orin Nano 4GB
JetPack Versions	5.0 Developer Preview - 6.1	5.0 Developer Preview - 6.1	5.0 Developer Preview - 6.1	5.0 Developer Preview - 6.1	5.0 Developer Preview - 6.1	5.0 Developer Preview - 6.1
CUDA Cores	2048	2048	1024	1024	512	512
Compute Capability	8.7	8.7	8.7	8.7	8.7	8.7
GPU Architecture	Ampere	Ampere	Ampere	Ampere	Ampere	Ampere
Memory	64GB LPDDR5	32GB LPDDR5	16GB LPDDR5	8GB LPDDR5	8GB LPDDR5	4GB LPDDR5
AI Performance	up to 200 TOPs	up to 200 TOPs	up to 70 TOPs	up to 70 TOPs	up to 40 TOPs	up to 40 TOPs

2.4 Jetson Download Center

A variety of software can be downloaded from Jetson Download Center.

3. My Jetson Embedded Boards

I actually own 4 Jetson embedded boards and am trying 1 more:

one Jetson Nano 2GB: which is purchased with JetBot
one Jetson Nano: provided by ShenZhen Longer Vision Technology, which now comes with 16G memory and 2 Wired ports.
one Jetson Xavier NX: provided by ShenZhen Longer Vision Technology
one Jetson AGX Xavier: for pure R&D only, but sooooo expensive
one Jetson Orin Nano: borrowed from one of my students. Jetson Orin Series was FIRSTLY on the market in August 2022 (Please refer to: NVIDIA® Jetson Orin™: A Breakthrough in Industrial Edge AI). It is toooo new and toooo expensive to be purchased. Ever since that time, a variety of single board computers with made-in-China NPUs are much much much cheaper than Jetson Orin Series. Yeah, 10 times cheaper guaranteed.

3.1 Jetson Nano 2GB for JetBot

➜  ~ cat /proc/cpuinfo
processor	: 0
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 1
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 2
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 3
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

➜  ~ cat /proc/meminfo
MemTotal:        2027240 kB
MemFree:          304868 kB
MemAvailable:    1619252 kB
Buffers:          301640 kB
Cached:           978212 kB
SwapCached:            0 kB
Active:           591384 kB
Inactive:         838300 kB
Active(anon):      77428 kB
Inactive(anon):   112776 kB
Active(file):     513956 kB
Inactive(file):   725524 kB
Unevictable:         828 kB
Mlocked:               0 kB
SwapTotal:       5207916 kB
SwapFree:        5207796 kB
Dirty:               272 kB
Writeback:             0 kB
AnonPages:        143560 kB
Mapped:           168900 kB
Shmem:             39548 kB
Slab:             217244 kB
SReclaimable:     162968 kB
SUnreclaim:        54276 kB
KernelStack:        4384 kB
PageTables:         3520 kB
NFS_Unstable:          0 kB
Bounce:                0 kB
WritebackTmp:          0 kB
CommitLimit:     6221536 kB
Committed_AS:    1029676 kB
VmallocTotal:   263061440 kB
VmallocUsed:           0 kB
VmallocChunk:          0 kB
AnonHugePages:     40960 kB
ShmemHugePages:        0 kB
ShmemPmdMapped:        0 kB
NvMapMemFree:       2048 kB
NvMapMemUsed:      21324 kB
CmaTotal:          65536 kB
CmaFree:           13236 kB
HugePages_Total:       0
HugePages_Free:        0
HugePages_Rsvd:        0
HugePages_Surp:        0
Hugepagesize:       2048 kB

➜  ~ df -h
Filesystem      Size  Used Avail Use% Mounted on
/dev/mmcblk0p1   58G   29G   28G  51% /
none            951M     0  951M   0% /dev
tmpfs           990M  4.0K  990M   1% /dev/shm
tmpfs           990M   38M  953M   4% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           990M     0  990M   0% /sys/fs/cgroup
tmpfs           198M  4.0K  198M   1% /run/user/121
tmpfs           198M     0  198M   0% /run/user/1000

3.2 Jetson Nano from ShenZhen Longer Vision Technology

➜  ~ cat /proc/cpuinfo
processor	: 0
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 1
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 2
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

processor	: 3
model name	: ARMv8 Processor rev 1 (v8l)
BogoMIPS	: 38.40
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32
CPU implementer	: 0x41
CPU architecture: 8
CPU variant	: 0x1
CPU part	: 0xd07
CPU revision	: 1

➜  ~ cat /proc/meminfo
MemTotal:        4059260 kB
MemFree:         1409344 kB
MemAvailable:    2538768 kB
Buffers:           30120 kB
Cached:          1254004 kB
SwapCached:            0 kB
Active:          1017736 kB
Inactive:        1170840 kB
Active(anon):     905764 kB
Inactive(anon):    45076 kB
Active(file):     111972 kB
Inactive(file):  1125764 kB
Unevictable:           0 kB
Mlocked:               0 kB
SwapTotal:       2029616 kB
SwapFree:        2029616 kB
Dirty:               152 kB
Writeback:             0 kB
AnonPages:        898652 kB
Mapped:           560276 kB
Shmem:             46388 kB
Slab:             102792 kB
SReclaimable:      46832 kB
SUnreclaim:        55960 kB
KernelStack:        6160 kB
PageTables:         7752 kB
NFS_Unstable:          0 kB
Bounce:                0 kB
WritebackTmp:          0 kB
CommitLimit:     4059244 kB
Committed_AS:    2500320 kB
VmallocTotal:   263061440 kB
VmallocUsed:           0 kB
VmallocChunk:          0 kB
AnonHugePages:    131072 kB
ShmemHugePages:        0 kB
ShmemPmdMapped:        0 kB
NvMapMemFree:          0 kB
NvMapMemUsed:     258692 kB
CmaTotal:         475136 kB
CmaFree:          441280 kB
HugePages_Total:       0
HugePages_Free:        0
HugePages_Rsvd:        0
HugePages_Surp:        0
Hugepagesize:       2048 kB

➜  ~ df -h
Filesystem      Size  Used Avail Use% Mounted on
/dev/mmcblk0p1   14G   12G  1.2G  92% /
none            1.8G     0  1.8G   0% /dev
tmpfs           2.0G   19M  2.0G   1% /dev/shm
tmpfs           2.0G   28M  2.0G   2% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           2.0G     0  2.0G   0% /sys/fs/cgroup
tmpfs           397M   12K  397M   1% /run/user/120
tmpfs           397M     0  397M   0% /run/user/1000

3.3 Jetson Xavier NX from ShenZhen Longer Vision Technology

➜  ~ cat /proc/cpuinfo
processor	: 0
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

processor	: 1
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

processor	: 2
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

processor	: 3
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

processor	: 4
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

processor	: 5
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 50168445

➜  ~ cat /proc/meminfo
MemTotal:        7958064 kB
MemFree:         6376676 kB
MemAvailable:    6968608 kB
Buffers:           31648 kB
Cached:           706620 kB
SwapCached:            0 kB
Active:           422156 kB
Inactive:         581804 kB
Active(anon):     267236 kB
Inactive(anon):    27908 kB
Active(file):     154920 kB
Inactive(file):   553896 kB
Unevictable:           0 kB
Mlocked:               0 kB
SwapTotal:       3979008 kB
SwapFree:        3979008 kB
Dirty:                 0 kB
Writeback:             0 kB
AnonPages:        254048 kB
Mapped:           187980 kB
Shmem:             29456 kB
Slab:             132884 kB
SReclaimable:      60592 kB
SUnreclaim:        72292 kB
KernelStack:        6640 kB
PageTables:         5892 kB
NFS_Unstable:          0 kB
Bounce:                0 kB
WritebackTmp:          0 kB
CommitLimit:     7958040 kB
Committed_AS:    1977692 kB
VmallocTotal:   263061440 kB
VmallocUsed:           0 kB
VmallocChunk:          0 kB
AnonHugePages:     90112 kB
ShmemHugePages:        0 kB
ShmemPmdMapped:        0 kB
NvMapMemFree:        704 kB
NvMapMemUsed:      27852 kB
CmaTotal:         753664 kB
CmaFree:          704152 kB
HugePages_Total:       0
HugePages_Free:        0
HugePages_Rsvd:        0
HugePages_Surp:        0
Hugepagesize:       2048 kB

➜  ~ df -h
Filesystem      Size  Used Avail Use% Mounted on
/dev/mmcblk0p1   14G   13G  253M  99% /
none            3.5G     0  3.5G   0% /dev
tmpfs           3.8G  4.0K  3.8G   1% /dev/shm
tmpfs           3.8G   29M  3.8G   1% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs           3.8G     0  3.8G   0% /sys/fs/cgroup
tmpfs           778M   12K  778M   1% /run/user/120
tmpfs           778M     0  778M   0% /run/user/1000

3.4 Jetson AGX Xavier

3.4.1 Entering Recovery Mode

After recovery mode is entered, you'll see:

1 2	➜ ~ lsusb \| grep NVIDIA Bus 009 Device 031: ID 0955:7019 NVIDIA Corp. APX

3.4.2 Failed to Flash via NVidia SDK Manager

Select Jetson AGX Xavier	No available releases for host OS: Ubuntu 24.04

3.4.3 Try SD Car Image

Download JP514-xnx-sd-card-image_b11.zip.

$ sudo dd if=./sd-blob.img of=/dev/sdb bs=1M status=progress conv=fsync 
[sudo] password for lvision: 
17746100224 bytes (18 GB, 17 GiB) copied, 26 s, 683 MB/s18153996288 bytes (18 GB, 17 GiB) copied, 26.5595 s, 684 MB/s

17313+0 records in
17313+0 records out
18153996288 bytes (18 GB, 17 GiB) copied, 1617.17 s, 11.2 MB/s

However, Jetson AGX Xavier is NOT booting, but ONLY black screen.

The answer is at NVidia Forum Issue 189348 - Black Screen: Do you know that you are talking about AGX Xavier but not NX? Only NX and Nano have and support sdcard image. Other platforms do not. It’s also clearly clarified in the table on NVidia’s official page: NVidia SDK Manager.

3.4.4 Negotiated to Use Ubuntu 20.04

Still problemabic. Two main issues:

That IP: 192.168.55.1 won't let me flash successfully
CUDA is not able to be installed successfully

3.4.4.2 Again: Jetson Linux Developer Guide Quick Start

1	sudo ./flash.sh jetson-agx-xavier-devkit internal

works for me.

3.4.4.3 `ssh` and `neofetch`

4. Demonstrate GPU On Jetson AGX Xavier

4.1 `tegrastats`, `jetson_release`, `jetson_clocks`

4.2 `jtop` from jetson-stats

5. YOLOv11 On Jetson AGX Xavier

Similar difficulties happened on this board Jetson AGX Xavier, which is clearly elaborated in one of my blogs NVidia-Jetson-Orin-Nano-8G-Dev-Kit.md.

Solution:

pip install ultralytics
Overwrite torch installed with ultralytics by PyTorch for JetPack 5.1.2
Build torchvision from source

YOLOv11 Initialization	YOLOv11 GPU

One of my blogs YOLOv11.md didn't talk about which model to use. And today, let's try them out.