Please see the "NVIDIA DRIVE OS NGC Docker Container Installation Guide" to download and install Docker, for complete host system requirements, for access to NVIDIA® GPU Cloud (NGC™), to pull the NVIDIA DRIVE® OS build/flash Docker image from NGC, flash the NVIDIA DRIVE Orin™ system, setup minicom and networking for secure shell (SSH) and network file system (NFS), and for other important installation information.
- Note
- You may to refer to the "DRIVE OS 6.0 Installation Guide for NVIDIA
Developer" instead of the "NVIDIA DRIVE OS NGC Docker Container
Installation Guide" if you obtained your documentation from the NVIDIA DRIVE Developer Program instead of NVONLINE.
Core Binaries Installation
We assume that you have pulled from NGC the NVIDIA DRIVE OS Docker image named drive-agx-orin-linux-aarch64-sdk-build-x86 or drive-agx-orin-qnx-aarch64-sdk-build-x86 that may be used to build and flash the NVIDIA DRIVE OS including the NVIDIA DriveWorks SDK and its sample applications. The NVIDIA DriveWorks SDK is precompiled and preinstalled for both the Linux x86 and Linux or QNX aarch64 architectures under the path /usr/local/driveworks inside the NVIDIA DRIVE OS Docker container. The guest Docker container may also be used to flash the NVIDIA DRIVE Orin system following the procedure in the "NVIDIA DRIVE OS NGC Docker Container
Installation Guide," in which case the NVIDIA DriveWorks SDK is precompiled and preinstalled for the Linux or QNX aarch64 architecture on the target system.
Guest Docker Container on Host System x86
Samples Binaries Installation
This section describes running precompiled samples with no compilation required. As an alternative, to compile samples from source and run those samples, please see Samples Compilation From Source below.
The NVIDIA DriveWorks SDK is precompiled and preinstalled for the Linux x86 architecture inside the NVIDIA DRIVE OS Docker container under the path /usr/local/driveworks. The NVIDIA DriveWorks SDK samples are precompiled for the Linux x86 architecture and preinstalled under /usr/local/driveworks/bin.
To run samples, first start the guest Docker container with the following command on the host system:
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY --gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86:latest
or
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY --gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-qnx-aarch64-sdk-build-x86:latest
- Note
- Components of the Docker image name and the image tag may vary slightly from the above. Please use the name and tag provided to you by NVIDIA.
- Warning
- Enter all subsequent commands in this section at the guest Docker container command prompt
# unless stated otherwise.
To run the "Hello World" sample, use the following command:
# /usr/local/driveworks/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path /usr/local/driveworks/bin may be run inside the guest Docker container in a similar way. For a full list of samples, please see Samples.
- Warning
- Enter all subsequent commands in this section at the host system command prompt
%.
To run samples that require access to a display, you may need to use the following command to allow access to the display for the docker group:
Console output:
non-network local connections being added to access control list
For security reasons, after exiting guest Docker container, you should remove access to the display for the docker group using the following command:
Console output:
non-network local connections being removed from access control list
Samples Compilation From Source
This section describes compiling samples from source and running those samples. As an alternative, to install and run precompiled samples with no compilation required, please see Samples Binaries Installation above.
The NVIDIA DriveWorks SDK is precompiled and preinstalled for the Linux x86 architecture on the NVIDIA DRIVE OS Docker image under the path /usr/local/driveworks to enable compiling samples and applications that leverage the NVIDIA DriveWorks SDK. Source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are located under the path /usr/local/driveworks/samples.
To compile the samples, first start the guest Docker container with the following command on the host system:
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY --gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86:latest
or
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY --gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-qnx-aarch64-sdk-build-x86:latest
- Note
- Components of the Docker image name and the image tag may vary slightly from the above. Please use the name and tag provided to you by NVIDIA.
- Warning
- Enter all subsequent commands in this section at the guest Docker container command prompt
# unless stated otherwise.
Create the output directory and configure the project:
# mkdir -p /home/nvidia/build-x86
# cmake -B /home/nvidia/build-x86 -S /usr/local/driveworks/samples
Console output:
-- The C compiler identification is GNU *
-- The CXX compiler identification is GNU *
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- The CUDA compiler identification is NVIDIA *
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "*")
-- Found EGL: /usr/lib/x86_64-linux-gnu/libEGL.so
-- Found /usr/lib/x86_64-linux-gnu/libEGL.so:
-- - Includes: [/usr/include]
-- - Libraries: [/usr/lib/x86_64-linux-gnu/libEGL.so]
-- DW_EXPERIMENTAL_FORCE_EGL not set, EGL Support Disabled
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Default - Building with TRT version * and cudnn version *
-- Building GLFW for X11 (static)
-- Found X11: /usr/include
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- **** Samples will be installed to `/home/nvidia/build-x86/install/usr/local/driveworks/samples/bin' on the host filesystem. ****
-- Found CUDART: /usr/local/cuda/targets/x86_64-linux/include
-- Found cuBLAS: /usr/local/cuda/targets/x86_64-linux/include
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_base library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_base.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_calibration library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_calibration.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_egomotion library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_egomotion.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_imageprocessing library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_imageprocessing.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_pointcloudprocessing library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_pointcloudprocessing.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_sensors library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_sensors.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_vehicleio library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_vehicleio.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dw_dnn_base library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdw_dnn_base.so
-- Found 'dwvisualization/core/Visualization.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found driveworks_visualization library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdriveworks_visualization.so
-- Found 'dwvisualization/core/Visualization.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- optional driveworks_visualization_av library not found at /usr/local/driveworks/targets/x86_64-Linux/lib;/usr/local/driveworks/lib - ok
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dwshared library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdwshared.so
-- Found 'dw/core/DynamicMemory.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dwdynamicmemory library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdwdynamicmemory.so
-- Found cuDNN: /usr/include (found version "*")
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dwcgf library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdwcgf.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/x86_64-Linux/include
-- Found dwframework_dwnodes library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdwframework_dwnodes.so
-- Found NvSCI: /usr/include found components: NvSciSync
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/build-x86
Build the project:
# cd /home/nvidia/build-x86
# make
Partial console output:
Scanning dependencies of target sample_hello_world
Building CXX object src/hello_world/CMakeFiles/sample_hello_world.dir/main.cpp.o
Linking CXX executable sample_hello_world
Built target sample_hello_world
Install the project:
Partial console output:
Install the project...
-- Install configuration: "Release"
....
-- Installing: /home/nvidia/build-x86/install/usr/local/driveworks/samples/bin/sample_hello_world
-- Set runtime path of "/home/nvidia/build-x86/install/usr/local/driveworks/samples/bin/sample_hello_world" to ""
To run the "Hello World" sample, use the following command inside the guest Docker container:
# /home/nvidia/build-x86/install/usr/local/driveworks/samples/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path /home/nvidia/build-x86/install/usr/local/driveworks/samples/bin may be run inside the guest Docker container in a similar way. For a full list of samples, please see Samples.
- Warning
- Enter all subsequent commands in this section at the host system command prompt
%.
To run samples that require access to a display, you may need to use the following command to allow access to the display for the docker group:
Console output:
non-network local connections being added to access control list
For security reasons, after exiting guest Docker container, you should remove access to the display for the docker group using the following command:
Console output:
non-network local connections being removed from access control list
Documentation Installation
To install the NVIDIA DriveWorks SDK reference documentation into the guest NVIDIA DRIVE OS Docker container, copy the following Debian packages to the location $DRIVEWORKS_WORKSPACE on the host system, where the environment variable $DRIVEWORKS_WORKSPACE denotes a folder on the host system that you will mount into the guest Docker container:
driveworks-doc_*_all.debdriveworks-cgf-doc_*_all.deb
Then start the guest Docker container with the following command on the host system:
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v $DRIVEWORKS_WORKSPACE:/home/nvidia \
--gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86:latest
or
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v $DRIVEWORKS_WORKSPACE:/home/nvidia \
--gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-qnx-aarch64-sdk-build-x86:latest
- Note
- Components of the Docker image name and the image tag may vary slightly from the above. Please use the name and tag provided to you by NVIDIA.
The environment variable $DRIVEWORKS_WORKSPACE denotes the location on the host file system of the mount into the guest Docker container that is mapped to the path /home/nvidia.
- Warning
- Enter all subsequent commands in this section at the guest Docker container command prompt
#.
Install the driveworks-doc package:
# dpkg -i /home/nvidia/driveworks-doc_*_all.deb
Console output:
Selecting previously unselected package driveworks-doc.
Preparing to unpack driveworks-doc_*_all.deb ...
Unpacking driveworks-doc ...
Setting up driveworks-doc ...
Install the driveworks-cgf-doc package:
# dpkg -i /home/nvidia/driveworks-cgf-doc_*_all.deb
Console output:
Selecting previously unselected package driveworks-cgf-doc.
Preparing to unpack driveworks-cgf-doc_*_all.deb ...
Unpacking driveworks-cgf-doc ...
Setting up driveworks-cgf-doc ...
The NVIDIA DriveWorks SDK documentation is then installed under /usr/local/driveworks/doc in the guest Docker container.
Verification of the File System Layout
For instructions on verifying the file system layout on the guest NVIDIA DRIVE OS Docker container on the host system, please see Verifying the NVIDIA DriveWorks SDK Installation.
NVIDIA DRIVE Orin Target System Linux aarch64
Samples Binaries Installation
This section describes installing and running precompiled samples with no cross-compilation required. As an alternative, to cross-compile samples from source and run those samples, please see Samples Cross-Compilation From Source below.
We assume that you have flashed your NVIDIA DRIVE Orin target system using the NVIDIA DRIVE OS Docker container and finalized your target system setup following the procedures in the "NVIDIA DRIVE OS NGC Docker Container
Installation Guide." The NVIDIA DriveWorks SDK will be precompiled for the Linux aarch64 architecture and preinstalled on the target system under the path /usr/local/driveworks.
To install the NVIDIA DriveWorks SDK samples precompiled for the Linux aarch64 architecture onto the target system, copy the following Debian packages located under the path /drive/extra/driveworks inside the guest Docker container to the target system using the NFS mount that you set up using the "NVIDIA DRIVE
OS NGC Docker Container Installation Guide:"
driveworks-data_*~linux*_all.debdriveworks-samples_*~linux*_arm64.debdriveworks-stm-samples_*~linux*_arm64.debdriveworks-cgf-samples_*~linux*_arm64.deb
If you do not have an NFS mount setup, you may use rcp to copy the above Debian packages after connecting to the target system using minicom, tcu_muxer, or SSH. See "How to Run the CUDA Samples" in the "NVIDIA DRIVE OS NGC Docker Container Installation Guide" for an example of copying a file from the host system to the target system.
- Warning
- Enter all subsequent commands in this section at the target system command prompt
$.
Connect to the target system using minicom, tcu_muxer, or SSH, and then use dpkg to install the Debian packages in the following order using the following commands on the target system.
Install the driveworks-data package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-data_*~linux*_all.deb
The environment variable $TARGET_NFS_MOUNT_PATH denotes the location on the target file system of the NFS mount.
Console output:
Selecting previously unselected package driveworks-data.
Preparing to unpack driveworks-data_*~linux*_all.deb ...
Unpacking driveworks-data ...
Setting up driveworks-data ...
Install the driveworks-samples package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-samples_*~linux*_arm64.deb
Console output:
Selecting previously unselected package driveworks-samples.
Preparing to unpack driveworks-samples_*~linux*_arm64.deb ...
Unpacking driveworks-samples ...
Setting up driveworks-samples ...
Install the driveworks-stm-samples package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-stm-samples_*~linux*_arm64.deb
Console output:
Selecting previously unselected package driveworks-stm-samples.
Preparing to unpack driveworks-stm-samples_*~linux*_arm64.deb ...
Unpacking driveworks-stm-samples ...
Setting up driveworks-stm-samples ...
Install the driveworks-cgf-samples package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-cgf-samples_*~linux*_arm64.deb
Console output:
Selecting previously unselected package driveworks-cgf-samples.
Preparing to unpack driveworks-cgf-samples_*~linux*_arm64.deb ...
Unpacking driveworks-cgf-samples ...
Setting up driveworks-cgf-samples ...
The NVIDIA DriveWorks SDK samples precompiled for the Linux aarch64 architecture are then installed under /usr/local/driveworks/bin on the target system.
To run the "Hello World" sample, use the following command on the target system:
$ /usr/local/driveworks/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path /usr/local/driveworks/bin may be run on the target system in a similar way. For a full list of samples, please see Samples.
Samples Cross-Compilation From Source
This section describes cross-compiling samples from source and running those samples. As an alternative, to install and run precompiled samples with no cross-compilation required, please see Samples Binaries Installation above.
The NVIDIA DriveWorks SDK is precompiled and preinstalled for the Linux aarch64 architecture on the NVIDIA DRIVE OS Docker image under the path /usr/local/driveworks/targets/aarch64-Linux to enable cross-compiling samples and applications that leverage the NVIDIA DriveWorks SDK. Source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are located under the path /usr/local/driveworks/samples.
To cross-compile the samples, first start the guest Docker container with the following command on the host system:
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v $DRIVEWORKS_WORKSPACE:/home/nvidia \
--gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86:latest
- Note
- Components of the Docker image name and the image tag may vary slightly from the above. Please use the name and tag provided to you by NVIDIA.
The environment variable $DRIVEWORKS_WORKSPACE denotes the location on the host file system below which you would like the cross-compiled sample binaries to be placed and is mapped to the path /home/nvidia inside the guest Docker container.
- Warning
- Enter all subsequent commands in this section at the guest Docker container command prompt
#.
Create the output directory and configure the project:
# mkdir -p /home/nvidia/build-linux-aarch64
# cmake -B /home/nvidia/build-linux-aarch64 \
-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5L.cmake \
-DVIBRANTE_PDK=/drive/drive-linux -S /usr/local/driveworks/samples
Console output:
-- VIBRANTE_PDK = /drive/drive-linux
-- VIBRANTE_PDK_BRANCH = *
-- Vibrante version *
-- The C compiler identification is GNU *
-- The CXX compiler identification is GNU *
-- Check for working C compiler: /drive/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-gcc
-- Check for working C compiler: /drive/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /drive/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-g++
-- Check for working CXX compiler: /drive/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- The CUDA compiler identification is NVIDIA *
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "*")
-- Found EGL: /drive/drive-linux/lib-target/libEGL.so
-- Found /drive/drive-linux/lib-target/libEGL.so:
-- - Includes: [/drive/drive-linux/include]
-- - Libraries: [/drive/drive-linux/lib-target/libEGL.so]
-- Found: /drive/drive-linux/lib-target/libdrm.so
-- Header at: /drive/drive-linux/include
-- DW_EXPERIMENTAL_FORCE_EGL set and EGL Support Enabled
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Cross Compiling for Vibrante
-- Default - Building with TRT version * and cudnn version *
-- Building GLFW for X11 (static)
-- Found X11: /drive/drive-linux/include
-- Looking for XOpenDisplay in /drive/drive-linux/lib-target/libX11.so;/drive/drive-linux/lib-target/libXext.so
-- Looking for XOpenDisplay in /drive/drive-linux/lib-target/libX11.so;/drive/drive-linux/lib-target/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - not found
-- VIBRANTE_PDK_BRANCH = *
-- Found vibrante lib: /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante/lib/libudev.so
-- Found vibrante lib: /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante/lib/libusb-1.0.so
-- Found vibrante_Xlib: /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante_Xlibs/lib/libXcursor.so
-- **** Please copy the contents of `/home/nvidia/build-linux-aarch64/install/usr/local/driveworks/samples/bin' on the host filesystem to `/usr/local/driveworks/samples/bin' on the target filesystem. ****
-- Found CUDART: /drive/drive-linux/filesystem/targetfs/usr/local/cuda/targets/aarch64-linux/include
-- Found cuBLAS: /drive/drive-linux/filesystem/targetfs/usr/local/cuda/targets/aarch64-linux/include
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_base library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_calibration library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_calibration.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_egomotion library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_egomotion.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_imageprocessing library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_imageprocessing.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_pointcloudprocessing library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_pointcloudprocessing.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_sensors library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_sensors.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_vehicleio library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_vehicleio.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_dnn_base library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_dnn_base.so
-- Found 'dwvisualization/core/Visualization.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found driveworks_visualization library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdriveworks_visualization.so
-- Found 'dwvisualization/core/Visualization.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- optional driveworks_visualization_av library not found at /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib;/drive/drive-linux/filesystem/targetfs/usr/local/driveworks/lib - ok
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwshared library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwshared.so
-- Found 'dw/core/DynamicMemory.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwdynamicmemory library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwdynamicmemory.so
-- Found cuDLA: /drive/drive-linux/filesystem/targetfs/usr/local/cuda/targets/aarch64-linux/include
-- Found cuPVA: /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include/cupva
-- Found cuDNN: /usr/include/aarch64-linux-gnu (found version "*")
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwcgf library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwcgf.so
-- Found 'dw/core/Version.h' in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwframework_dwnodes library in /drive/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwframework_dwnodes.so
-- Found NvSCI: /drive/drive-linux/include found components: NvSciSync
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/build-linux-aarch64
Build the project:
# cd /home/nvidia/build-linux-aarch64
# make
Partial console output:
Scanning dependencies of target sample_hello_world
Building CXX object src/hello_world/CMakeFiles/sample_hello_world.dir/main.cpp.o
Linking CXX executable sample_hello_world
Built target sample_hello_world
You may ignore warnings about missing library dependencies during linking, since those dependencies will be available on the target system.
Install the project:
Partial console output:
Install the project...
-- Install configuration: "Release"
....
-- Installing: /home/nvidia/build-linux-aarch64/install/usr/local/driveworks/samples/bin/sample_hello_world
-- Set runtime path of "/home/nvidia/build-linux-aarch64/install/usr/local/driveworks/samples/bin/sample_hello_world" to ""
Exit the guest Docker container and copy the contents of $DRIVEWORKS_WORKSPACE/build-linux-aarch64/install/usr/local/driveworks/samples/bin on the host system to /usr/local/driveworks/samples/bin on the NVIDIA DRIVE Orin target system using the NFS mount that you set up using the "NVIDIA DRIVE
OS NGC Docker Container Installation Guide." The path to the cross-compiled samples binaries on the target system must be exactly /usr/local/driveworks/samples/bin otherwise the samples will not be able to find dependent libraries or data.
If you do not have an NFS mount setup, you may use rcp to copy the contents of $DRIVEWORKS_WORKSPACE/build-linux-aarch64/install/usr/local/driveworks/samples/bin to /usr/local/driveworks/samples/bin after connecting to the target system using minicom, tcu_muxer, or SSH. See "How to Run the CUDA Samples" in the "NVIDIA DRIVE OS NGC Docker Container Installation Guide" for an example of copying a file from the host system to the target system.
- Warning
- Enter all subsequent commands in this section at the target system command prompt
$.
To run the "Hello World" sample, use the following command on the target system:
$ /usr/local/driveworks/samples/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path /usr/local/driveworks/samples/bin may be run on the target system in a similar way. For a full list of samples, please see Samples.
Documentation Installation
To install the NVIDIA DriveWorks SDK reference documentation onto the target system, copy the following Debian packages to the target system using the NFS mount that you set up using the "NVIDIA DRIVE OS NGC Docker Container
Installation Guide:"
driveworks-doc_*_all.debdriveworks-cgf-doc_*_all.deb
If you do not have an NFS mount setup, you may use rcp to copy the above Debian packages after connecting to the target system using minicom, tcu_muxer, or SSH. See "How to Run the CUDA Samples" in the "NVIDIA DRIVE OS NGC Docker Container Installation Guide" for an example of copying a file from the host system to the target system.
Connect to the target system using minicom, tcu_muxer, or SSH, and then use dpkg to install the Debian packages in the following order using the following commands on the target system.
Install the driveworks-doc package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-doc_*_all.deb
The environment variable $TARGET_NFS_MOUNT_PATH denotes the location on the target file system of the NFS mount.
Console output:
Selecting previously unselected package driveworks-doc.
Preparing to unpack driveworks-doc_*_all.deb ...
Unpacking driveworks-doc ...
Setting up driveworks-doc ...
Install the driveworks-cgf-doc package:
$ sudo dpkg -i $TARGET_NFS_MOUNT_PATH/driveworks-cgf-doc_*_all.deb
Console output:
Selecting previously unselected package driveworks-cgf-doc.
Preparing to unpack driveworks-cgf-doc_*_all ...
Unpacking driveworks-cgf-doc ...
Setting up driveworks-cgf-doc ...
The NVIDIA DriveWorks SDK documentation is then installed under /usr/local/driveworks/doc on the target system.
Verification of the File System Layout
For instructions on verifying the file system layout on the NVIDIA DRIVE Orin target system, please see Verifying the NVIDIA DriveWorks SDK Installation.
NVIDIA DRIVE Orin Target System QNX aarch64
Samples Binaries Installation
This section describes installing and running precompiled samples with no cross-compilation required. As an alternative, to cross-compile samples from source and run those samples, please see Samples Cross-Compilation From Source below.
We assume that you have flashed your NVIDIA DRIVE Orin target system using the NVIDIA DRIVE OS Docker container and finalized your target system setup following the procedures in the "NVIDIA DRIVE OS NGC Docker Container
Installation Guide." The NVIDIA DriveWorks SDK will be precompiled for the aarch64 architecture and preinstalled on the target system under the path /usr/local/driveworks.
To install the NVIDIA DriveWorks SDK samples precompiled for the QNX aarch64 architecture onto the target system, unpack the following archives located under the path /drive/extra/driveworks inside the guest Docker container to the target system using the NFS mount that you set up using the "NVIDIA DRIVE
OS NGC Docker Container Installation Guide:"
driveworks-data_*~qnx*_all.tar.gzdriveworks-samples_*~qnx*_all.tar.gzdriveworks-stm-samples_*~qnx*_all.tar.gzdriveworks-cgf-samples_*~qnx*_all.tar.gz
Unpack these archives into the mount location on the host:
% sudo tar -xzf driveworks-data_*~qnx*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
% sudo tar -xzf driveworks-samples_*~qnx*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
% sudo tar -xzf driveworks-stm-samples_*~qnx*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
% sudo tar -xzf driveworks-cgf-samples_*~qnx*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
The environment variable $HOST_NFS_MOUNT_PATH is the host path that you have exported via NFS and mounted on the target for providing target access the unpacked samples.
The NVIDIA DriveWorks SDK samples precompiled for the QNX arch64 architecture will be available under $TARGET_NFS_MOUNT_PATH/usr/local/driveworks-*/bin on the target system, where $TARGET_NFS_MOUNT_PATH is the path on the target file system to the NFS mounted location where you unpacked the samples.
Due to QNX file system limitations you should not attempt to copy the contents of $HOST_NFS_MOUNT_PATH/usr/local/driveworks-*/bin or $HOST_NFS_MOUNT_PATH/usr/local/driveworks-*/bin onto the target system instead of using the NFS mount.
- Warning
- Enter all subsequent commands in this section at the target system command prompt
$.
To run the "Hello World" sample, use the following command on the target system:
$ $TARGET_NFS_MOUNT_PATH/usr/local/driveworks-*/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path $TARGET_NFS_MOUNT_PATH/usr/local/driveworks-*/bin may be run on the target system in a similar way. For a full list of samples, please see Samples.
Samples Cross-Compilation From Source
This section describes cross-compiling samples from source and running those samples. As an alternative, to install and run precompiled samples with no cross-compilation required, please see Samples Binaries Installation above.
The NVIDIA DriveWorks SDK is precompiled and preinstalled for the QNX aarch64 architecture on the NVIDIA DRIVE OS Docker image under the path /usr/local/driveworks/targets/aarch64-QNX to enable cross-compiling samples and applications that leverage the NVIDIA DriveWorks SDK. Source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are located under the path /usr/local/driveworks/samples.
To cross-compile the samples, first start the guest Docker container with the following command on the host system:
% docker run -it -v /dev/bus/usb:/dev/bus/usb -v $DRIVEWORKS_WORKSPACE:/home/nvidia \
-v $HOME/.qnx:/root/.qnx -v $QNX_BASE:/sdp -e QNX_BASE=/sdp -e QNX_HOST=/sdp/host/linux/x86_64 \
-e QNX_TARGET=/sdp/target/qnx7 -e QNX_TOP=/drive/drive-qnx -e QNX_VERSION=7.1.0 \
-e CUDA_INSTALL_DIR=/usr/local/cuda-safe-11.4 -e CUDA_PATH=/usr/local/cuda-safe-11.4 -e QNX_SDK_PATH=/drive/drive-qnx/ \
-e TEGRA_TOP=/drive/drive-foundation -e PATH=/sdp/host/linux/x86_64/usr/bin/:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin \
--gpus=all --privileged --net=host \
nvcr.io/drive/driveos-sdk/drive-agx-orin-qnx-aarch64-sdk-build-x86:latest
- Note
- Components of the Docker image name and the image tag may vary slightly from the above. Please use the name and tag provided to you by NVIDIA.
The environment variable $DRIVEWORKS_WORKSPACE denotes the location on the host file system below which you would like the cross-compiled sample binaries to be placed and is mapped to the path /home/nvidia inside the guest Docker container and the environment variable $QNX_BASE denotes the location on the host file system of the QNX Software Development Platform installation.
- Warning
- Enter all subsequent commands in this section at the guest Docker container command prompt
#.
Create the output directory and configure the project:
# mkdir -p /home/nvidia/build-qnx-aarch64
# cmake -B /home/nvidia/build-qnx-aarch64 -DCMAKE_BUILD_TYPE=Release \
-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5Q.cmake \
-DCUDA_DIR=/usr/local/cuda-safe-11.4 \
-DVIBRANTE_PDK=/drive/drive-qnx -S /usr/local/driveworks/samples
Console output:
-- VIBRANTE_PDK = /drive/drive-qnx
-- VIBRANTE_PDK_BRANCH = *
-- Vibrante version *
-- Enabling QNX QOS Compiler (qcc/q++)
-- Enabling QNX QOS Compiler (qcc/q++)
-- The C compiler identification is QCC *
-- The CXX compiler identification is QCC *
-- Check for working C compiler: /sdp/host/linux/x86_64/usr/bin/qcc
-- Check for working C compiler: /sdp/host/linux/x86_64/usr/bin/qcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /sdp/host/linux/x86_64/usr/bin/q++
-- Check for working CXX compiler: /sdp/host/linux/x86_64/usr/bin/q++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- The CUDA compiler identification is NVIDIA *
-- Check for working CUDA compiler: /usr/local/cuda-safe-*/bin/nvcc
-- Check for working CUDA compiler: /usr/local/cuda-safe-*/bin/nvcc -- works
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "*")
-- Found EGL: /drive/drive-qnx/lib-target/libEGL.so
-- Found /drive/drive-qnx/lib-target/libEGL.so:
-- - Includes: [/drive/drive-qnx/include]
-- - Libraries: [/drive/drive-qnx/lib-target/libEGL.so]
-- Header at: /drive/drive-qnx/include
-- DW_EXPERIMENTAL_FORCE_EGL set and EGL Support Enabled
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Cross Compiling for Vibrante
-- Default - Building with TRT version * and cudnn version *
-- Building GLFW for Screen
-- VIBRANTE_PDK_BRANCH = *
-- **** Please mount `/home/nvidia/build-qnx-aarch64/install/usr/local/driveworks/samples/bin' on the host filesystem onto `/usr/local/driveworks/samples/bin' on the target filesystem using NFS. ****
-- Found CUDART: /usr/local/cuda-safe-*/targets/aarch64-qnx/include
-- Found cuBLAS: /usr/local/cuda-safe-*/targets/aarch64-qnx/include
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_base library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_base.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_calibration library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_calibration.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_egomotion library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_egomotion.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_imageprocessing library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_imageprocessing.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_pointcloudprocessing library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_pointcloudprocessing.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_sensors library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_sensors.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_vehicleio library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_vehicleio.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dw_dnn_base library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdw_dnn_base.so
-- Found 'dwvisualization/core/Visualization.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found driveworks_visualization library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdriveworks_visualization.so
-- Found 'dwvisualization/core/Visualization.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- optional driveworks_visualization_av library not found at /usr/local/driveworks/targets/aarch64-QNX/lib;/usr/local/driveworks/lib - ok
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dwshared library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdwshared.so
-- Found 'dw/core/DynamicMemory.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dwdynamicmemory library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdwdynamicmemory.so
-- Found cuDLA: /usr/local/cuda-safe-*/targets/aarch64-qnx/include
-- Found cuPVA: /usr/local/driveworks/targets/aarch64-QNX/include/cupva
-- Found cuDNN: /usr/include/aarch64-unknown-nto-qnx (found version "*")
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dwcgf library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdwcgf.so
-- Found 'dw/core/Version.h' in /usr/local/driveworks/targets/aarch64-QNX/include
-- Found dwframework_dwnodes library in /usr/local/driveworks/targets/aarch64-QNX/lib/libdwframework_dwnodes.so
-- Found NvSCI: /drive/drive-qnx/include found components: NvSciSync
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/build-qnx-aarch64
Build the project:
# cd /home/nvidia/build-qnx-aarch64
# make
Partial console output:
Scanning dependencies of target sample_hello_world
Building CXX object src/hello_world/CMakeFiles/sample_hello_world.dir/main.cpp.o
Linking CXX executable sample_hello_world
Built target sample_hello_world
You may ignore warnings about missing library dependencies during linking, since those dependencies will be available on the target system.
Install the project:
Partial console output:
Install the project...
-- Install configuration: "Release"
....
-- Installing: /home/nvidia/build-qnx-aarch64/install/usr/local/driveworks/samples/bin/sample_hello_world
-- Set runtime path of "/home/nvidia/build-qnx-aarch64/install/usr/local/driveworks/samples/bin/sample_hello_world" to ""
Exit the guest Docker container and mount the folder $DRIVEWORKS_WORKSPACE/build-qnx-aarch64/install/usr/local/driveworks/samples/bin on the host system onto /usr/local/driveworks/samples/bin on the NVIDIA DRIVE Orin target system using NFS following the procedures in the "NVIDIA DRIVE OS
NGC Docker Container Installation Guide." The path to the cross-compiled samples binaries on the target system must be exactly /usr/local/driveworks/samples/bin otherwise the samples will not be able to find dependent libraries or data.
Due to QNX file system limitations you should not attempt to copy the contents of $DRIVEWORKS_WORKSPACE/build-qnx-aarch64/install/usr/local/driveworks/samples/bin onto the target system instead of using the NFS mount.
- Warning
- Enter all subsequent commands in this section at the target system command prompt
$.
To run the "Hello World" sample, use the following command on the target system:
$ /usr/local/driveworks/samples/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path /usr/local/driveworks/samples/bin may be run on the target system in a similar way. For a full list of samples, please see Samples.
Documentation Installation
To install the NVIDIA DriveWorks SDK reference documentation onto the target system, unpack the following archive to the target system using the NFS mount that you set up using the "NVIDIA DRIVE OS NGC Docker Container Installation
Guide:"
driveworks-doc_*_all.tar.gzdriveworks-cgf-doc_*_all.tar.gz
Unpack this archive into the mount location on the host:
% sudo tar -xzf driveworks-doc_*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
% sudo tar -xzf driveworks-cgf-doc_*_all.tar.gz -C $HOST_NFS_MOUNT_PATH
The NVIDIA DriveWorks SDK documentation is then unpacked under $TARGET_NFS_MOUNT_PATH/usr/local/driveworks-*/doc on the target system.
Verification of the File System Layout
For instructions on verifying the file system layout on the NVIDIA DRIVE Orin target system, please see Verifying the NVIDIA DriveWorks SDK Installation.