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Infrastructure

In this chapter i describe the infrastructure i used during the journey.

Personal scope

This chapter describe my environment which very specific, but can be a sample how suitable certain hardware is.

Computer Hardware

Desktop

  • CPU: 13th Gen Intel(R) Core(TM) i7
  • GPU: 4,352 CUDA cores / 136 Tensor cores
  • RAM: 64 GB
  • Hard disc: 2 TB
  • Graphic Card: NVIDIA GeForce RTX 4060 Ti
  • OS: Windows 11 & Ubuntu 22.04

Small-Laptop

  • CPU: Intel(R) Core(TM) i5-4250U
  • GPU: ./.
  • RAM: 4 GB
  • Hard disc: 250 GB
  • Graphic Card: Mesa Intel(R) HD Graphics 5000
  • OS: Ubuntu 22.04

NVIDIA Jetson Orin Nano Super (Robot Controller)

  • CPU: 6-core Arm Cortex-A78AE v8.2
  • GPU: 1024 CUDA cores / 32 Tensor cores
  • RAM: 8 GB
  • Hard disc: 1 TB
  • Graphic Card: NVIDIA Ampere architecture
  • OS: Ubuntu 22.04

Network

network-all

Runtime Environments

The available hardware can be used with different runtime environments.

  • Native Ubuntu: Install Ubuntu directly to the hardware.
  • Native Windows: Install Windows directly to the hardware.
  • Docker Image: Install Ubuntu in a docker container.
  • WSL: Install Ubuntu in a WSL container in Windows.
  • Virtual Machine Ubuntu: Install Ubuntu in a Virtual Machine for a Hypervisor like Hyper-V.
  • Virtual Machine Windows: Install Windows in a Virtual Machine for a Hypervisor like Hyper-V.

Target Environments

Name Hardware Environment Role Description
ma3jet Robot Controller Native Ubuntu Robot Controller This is the controller on the robot
B760 Desktop Native Ubuntu Development Machine This is the development machine for simulation and backend calculation
W11 Desktop Native Windows Development Machine This is the development machine for simulation
small-laptop small-laptop Native Ubuntu Remote Cockpit This is the teleoperation cockpit

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