Customize System FileSystem

Customize file system on Host PC.

1. Prepare Filesystem

Driver package allows users to customize their filesystem.
Driver package provides a script (create_image.sh) to create a board specific image base on several rootfs selection, here’s what we support.

So you need to prepare these items:

  • Driver package

  • Rootfs Binaries

Download Rootfs Binaries

The file system we use here is NVIDIA Sample Filesystem.

Please download the correct L4T version from NVIDIA Developer.

For example, if you are using ADLINK provided driver package 32.6.1, you should download from Jetson Linux R32.6.1 Release Page.
Download Sample Root Filesystem according to your ROScube device.
../../../../_images/L4T-driver2.png

Create Image

After you download rootfs binary successfully, put the binary under the driver package folder.

Then, run ./create_image.sh to create image.

cd <driver package>
sudo ./create_image.sh nvidia_sample_rootfs

2. Modify Filesystem under root

Users can chroot into filesystem, and install packages or put files to filesystem. That allows user to put their software and configurations into rootfs.

  1. Mount host environment to filesystem.

cd <driver package>
cd rootfs
sudo cp /usr/bin/qemu-aarch64-static usr/bin/
sudo mount --bind /dev/ dev/
sudo mount --bind /sys/ sys/
sudo mount --bind /proc/ proc/

# Copy host environment dns settings.
sudo cp /etc/resolv.conf etc/resolv.conf.host
sudo mv etc/resolv.conf etc/resolv.conf.saved
sudo mv etc/resolv.conf.host etc/resolv.conf

  1. Now you can chroot into filesystem and modify filesystem.

# Using chroot
sudo LC_ALL=C LANG=C.UTF-8 chroot . /bin/bash

apt update
apt install wget vim

# Also you can install other packages which you want
apt install nvidia-jetpack

  1. Once you finish modification, you can exit chroot environment by pressing ctrl+D. Then, remove cache files, e.g. apt cache to save storage space.

# Exit chroot
exit

sudo umount ./proc
sudo umount ./sys
sudo umount ./dev
sudo rm usr/bin/qemu-aarch64-static

# Restore dns setting.
sudo rm etc/resolv.conf
sudo mv etc/resolv.conf.saved etc/resolv.conf

# Remove caches and logging files.

sudo rm -rf var/lib/apt/lists/*
sudo rm -rf dev/*
sudo rm -rf var/log/*
sudo rm -rf var/tmp/*
sudo rm -rf var/cache/apt/archives/*.deb
sudo rm -rf tmp/*