NVidia Jetson Xavier AGX

Posted on Edited on In ,

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

0. My Working Environment

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

$ uname -r                             
6.8.0-36-generic

1. Jetson Embedded Products

1.1 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

1.2 JetPack Version Compatability

1.2.1 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

1.2.2 Jetson Xavier Series

Specification Jetson AGX Xavier 32GB Jetson AGX Xavier 8GB
JetPack Versions 4.2 ~ 5.1.3 4.4 ~ 5.1.3
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)

1.2.3 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 - 6.0 5.0 Developer Preview - 6.0 5.0 Developer Preview - 6.0 5.0 Developer Preview - 6.0 5.0 Developer Preview - 6.0 5.0 Developer Preview - 6.0
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

1.3 Jetson Download Center

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

2. My Jetson Embedded Boards

I actually have 4 Jetson embedded boards:

I don’t have an embedded board of Jetson Orin Series at all, for it was FIRSTLY on the market in August 2022 (Please refer to: NVIDIA® Jetson Orin™: A Breakthrough in Industrial Edge AI). I mean: it’s a kind of toooo new and toooo expensive to be purchased. For 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.

2.1 Jetson Nano 2GB for JetBot

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➜  ~ 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
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➜  ~ 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
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➜  ~ 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

2.2 Jetson Nano from ShenZhen Longer Vision Technology

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➜  ~ 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
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➜  ~ 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
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➜  ~ 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

2.3 Jetson Xavier NX from ShenZhen Longer Vision Technology

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➜  ~ 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
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➜  ~ 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
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➜  ~ 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

2.4 Jetson AGX Xavier

2.4.1 Failed to Flash via NVidia SDK Manager

2.4.1.1 lsusb

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$ lsusb
......
Bus 009 Device 042: ID 0955:7019 NVIDIA Corp. APX
......

2.4.1.2 No available releases for host OS: [Ubuntu 24.04]

Select Jetson AGX Xavier No available releases for host OS: Ubuntu 24.04
NVidia SDK Manager Jetson AGX Xavier NVidia SDK Manager No Available Release for Host

2.4.2 Try SD Car Image

Download JP513-xnx-sd-card-image_b29.zip.

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$ 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.

2.4.3 Finally, Negotiated to Use Ubuntu 20.04

2.4.3.1 Installation Using NVidia SDK Manager on Ubuntu 20.04

NVidia SDK Manager Installation Step 1 NVidia SDK Manager Installation Step 2
NVidia SDK Manager Step 1 NVidia SDK Manager Step 2
NVidia SDK Manager Installation Step 3-1 NVidia SDK Manager Installation Step 3-2
:----------: :----------:
NVidia SDK Manager Step 3-1 NVidia SDK Manager Step 3-2
NVidia SDK Manager Installation Step 4
NVidia SDK Manager Step 4

2.4.3.2 ssh Into Jetson AGX Xavier

Jetson AGX Xavier 32G

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lvision@ubuntu:~$ 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 cpuid asimdrdm dcpop
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 72064061

processor	: 1
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm dcpop
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 72064061

processor	: 2
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm dcpop
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 72064061

processor	: 3
model name	: ARMv8 Processor rev 0 (v8l)
BogoMIPS	: 62.50
Features	: fp asimd evtstrm aes pmull sha1 sha2 crc32 atomics fphp asimdhp cpuid asimdrdm dcpop
CPU implementer	: 0x4e
CPU architecture: 8
CPU variant	: 0x0
CPU part	: 0x004
CPU revision	: 0
MTS version	: 72064061
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lvision@ubuntu:~$ cat /proc/meminfo
MemTotal:       31734344 kB
MemFree:        29595460 kB
MemAvailable:   30582508 kB
Buffers:           32896 kB
Cached:          1265972 kB
SwapCached:            0 kB
Active:           410632 kB
Inactive:        1243424 kB
Active(anon):       2380 kB
Inactive(anon):   395220 kB
Active(file):     408252 kB
Inactive(file):   848204 kB
Unevictable:       21408 kB
Mlocked:               0 kB
SwapTotal:      15867168 kB
SwapFree:       15867168 kB
Dirty:                 0 kB
Writeback:             0 kB
AnonPages:        371788 kB
Mapped:           232932 kB
Shmem:             21004 kB
KReclaimable:      72332 kB
Slab:             156660 kB
SReclaimable:      72332 kB
SUnreclaim:        84328 kB
KernelStack:        8128 kB
PageTables:        11020 kB
NFS_Unstable:          0 kB
Bounce:                0 kB
WritebackTmp:          0 kB
CommitLimit:    31734340 kB
Committed_AS:    2774872 kB
VmallocTotal:   135290159040 kB
VmallocUsed:       90948 kB
VmallocChunk:          0 kB
Percpu:             4384 kB
HardwareCorrupted:     0 kB
AnonHugePages:    137216 kB
ShmemHugePages:        0 kB
ShmemPmdMapped:        0 kB
FileHugePages:         0 kB
FilePmdMapped:         0 kB
CmaTotal:          65536 kB
CmaFree:           16172 kB
HugePages_Total:       0
HugePages_Free:        0
HugePages_Rsvd:        0
HugePages_Surp:        0
Hugepagesize:       2048 kB
Hugetlb:               0 kB
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lvision@ubuntu:~$ df -h
Filesystem      Size  Used Avail Use% Mounted on
/dev/mmcblk0p1   28G   19G  7.1G  73% /
none             16G     0   16G   0% /dev
tmpfs            16G     0   16G   0% /dev/shm
tmpfs           3.1G   19M  3.1G   1% /run
tmpfs           5.0M  4.0K  5.0M   1% /run/lock
tmpfs            16G     0   16G   0% /sys/fs/cgroup
tmpfs           3.1G   16K  3.1G   1% /run/user/124
tmpfs           3.1G  8.0K  3.1G   1% /run/user/1000