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本文介绍了如何为Jetson Nano定制一个轻量级的Ubuntu Nano镜像，包括下载BSP、创建rootfs、安装依赖、chroot环境配置、编译镜像以及烧录步骤，旨在优化开发环境并实现工程文件的集成。

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系统镜像6G，默认安装ubuntu desktop等桌面软件，体积非常大，如果项目开发完成，想要将工程文件直接集成到镜像里，进行批量烧录，那么可以通过自制镜像的方式来实现。以下针对Nano版整理的制作方法。

一、下载BSP并解压

使用的是L4T Jetson-210_Linux_R32.7.2_aarch64.tbz2

tar xvf Jetson-210_Linux_R32.7.2_aarch64.tbz2

cd Linux_for_Tegra

二、host安装依赖

apt-get update
apt-get install --no-install-recommends -y qemu-user-static debootstrap binfmt-support coreutils parted gdisk e2fsprogs

三、运行debootstrap创建基础rootfs

debootstrap --arch=arm64 --foreign --variant=minbase --include=python3,python3-apt bionic rootfs



tee rootfs/etc/apt/sources.list -'EOF'

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main universe restricted

EOF



tee rootfs/etc/netplan/netcfg.yaml  -'EOF'

network:

  version: 2

  renderer: networkd

  ethernets:

    eth0:

    dhcp4: true

EOF



cp /usr/bin/qemu-aarch64-static rootfs/usr/bin

chroot rootfs /bin/bash -c "/debootstrap/debootstrap --second-stage"

四、target安装依赖

此时需要chroot到rootfs内

chroot rootfs /bin/bash
apt update
apt-get install    python-pip    python-pycurl    g++    libpython-dev    python-numpy    gnuradio    gnuradio-dev    rtl-sdr    librtlsdr-dev    osmo-sdr    libosmosdr-dev    libosmocore    libosmocore-dev    libboost-all-dev    libcppunit-dev    swig    doxygen    liblog4cpp5-dev    python-scipy    ant    libusb-1.0-0     libfftw3-dev    python3-pip    python3-numpy    python3-scipy    gr-air-modes    pkg-config    git    libssl-dev    libsdl2-dev    libasound2    libxmu-dev    libxi-dev    freeglut3-dev    libasound2-dev    libjack-jackd2-dev    libxrandr-dev    libgee-0.8-dev    libgtk-3-dev    libgranite-dev    libvte-2.91-dev    libjson-glib-dev    libunity-dev    meson    valac    gpg    python-psutil    python-demjson    python-requests    python-serial    python-poster    bash-completion    build-essential    btrfs-progs    cmake    curl    htop    iotop    iputils-ping    kmod    linux-firmware    locales    net-tools    netplan.io    pciutils    python3-dev    ssh    systemd    udev    unzip    usbutils    gpsd gpsd-clients 
rm /dev/random
rm /dev/urandom
exit
./apply_binaries.sh

五、删除缓存文件

sudo rm rootfs/var/cache/apt/archives/*.deb

六、编译镜像

cd tools

#4G版：

sudo ./jetson-disk-image-creator.sh -o jetson_4G.img -b jetson-nano -r 300

七、烧录镜像

cd bootload
sudo cp jetson_4G.img.raw system.img
sudo ./flash.sh -r  jetson-nano-emmc mmcblk0p1