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Cross-Host Communication

Overview

Section titled “Overview”

Lite3 has limited onboard computing resources. An additional host computer (e.g., NVIDIA Jetson) can be configured and connected via wired Ethernet for ROS2 communication.

Connection Method

Section titled “Connection Method”
  1. Connect the host computer and Lite3 via wired Ethernet cable
  2. Compile and run rl_deploy on the host

ONNX Runtime Compatibility

Section titled “ONNX Runtime Compatibility”

When building for the host, you may encounter ONNX Runtime version incompatibility. Download the corresponding version based on the host architecture:

  • NVIDIA Jetson AGX Orin (Jetpack 6.1, CUDA 12.6): Use onnxruntime-linux-aarch64-gpu-cuda12-1.18.1
  • Lite3 stock computing module: Use the arm version provided in the repository

Replace path: src/Lite3_sdk_deploy/third_party/onnxruntime/arm

ROS2 Version Compatibility

Section titled “ROS2 Version Compatibility”

The ROS2 version on Lite3 is Foxy (compatible with Ubuntu 20.04). If the host’s ROS2 version is not Foxy, communication will not work properly (ROS2 does not officially support cross-version communication).

The project provides JointsDataShadowSubscriber as a temporary workaround.