Setting Up the Yocto Environment Using Debian Packages

Note: The steps described below are applicable only for NVONLINE Users working with SDK Debians.

Install Linux and Foundation Debian Packages

Uninstall previously installed NVIDIA DRIVE® OS versions to maintain integrity and to avoid conflicts:
sudo -E apt-get -y --purge remove "nv-driveos*"
Install the following packages to set up NVIDIA DRIVE OS SDK for Yocto build:
sudo -E apt install ./nv-driveos-repo-<SDK>-linux-[VERSION]-[GCID]_[VERSION]_amd64.deb
export NV_WORKSPACE=/path/where/SDK/needs/to/be/installed

sudo -E apt -f -y install nv-driveos-build-<SDK>-linux-<VERSION>-><GCID> nv-driveos-linux-vksc-dev-<VERSION>-<GCID>  \
nv-driveos-linux-yocto-<VERSION>-<GCID> \
nv-driveos-linux-yocto-oss-src-<VERSION>-<GCID> \
nv-driveos-foundation-oss-src-<VERSION>-<GCID> \
nv-driveos-linux-tegra2aurix-updater-<VERSION>-<GCID> \

Install and Set Up the Toolkits

Follow these steps to install and set up the toolkits:
  1. Install CUDA Toolkit on the Host.
  2. Install CuDNN Packages if Including CuDNN from Yocto.
  3. Install TensorRT Packages if Including TensorRT from Yocto.
  4. Install NVIDIA DriveWorks if Including NVIDIA DriveWorks from Yocto.

Install CUDA Toolkit on the Host

Note: This step is mandatory if CUDA is enabled with Yocto. CUDA toolkit must be installed on the host before Yocto build initialization. Skip this section if CUDA toolkit is already installed.
  1. Follow the installation steps described in Installing CUDA Debian Packages.
  2. Copy the CUDA arm64 Debian package into a specific path as follows: 
    mkdir <top>/drive-linux/toolkits/cuda/drive-os-av/
cp cuda-tegra-repo-ubuntu*_arm64.deb <top>/drive-linux/toolkits/cuda/drive-os-av/

Install CuDNN Packages if Including CuDNN from Yocto

  1. Follow the installation steps described in Installing cuDNN Debian Packages.
  2. Copy the CuDNN deb file into a specific path:
    mkdir <top>/drive-linux/toolkits/cudnn/
cp cudnn-local-tegra-repo-ubuntu2004-<CUDNN_MAJOR_VER>-<CUDNN_MINOR_VER>-local_1.0-1_arm64.deb <top>/drive-linux/toolkits/cudnn

Install TensorRT Packages if Including TensorRT from Yocto

  1. Follow the installation steps described in Installing TensorRT Debian Packages.
    Note: Additionally, install the tensorrt-safe-cross-aarch64 package if DriveWorks is enabled.
  2. Copy the TensorRT deb file into a specific path:
    mkdir -p <top>/drive-linux/toolkits/tensorRT
cp nv-tensorrt-repo-ubuntu2004-cuda${CUDA_VER}trt${TRT_VER}-d6l-target-ga<BUILD_ID>-1_arm64.deb <top>/drive-linux/toolkits/tensorRT

Install NVIDIA DriveWorks if Including NVIDIA DriveWorks from Yocto

Note: Before including NVIDIA DriveWorks in Yocto builds, you must install CUDA, CuDNN, and TensorRT toolkits and set up the respective Debian packages on the host as described in the preceding sections.
  1. Follow the installation steps:
    sudo apt install -y ./driveworks_<dw-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-data_<dw-ver>-<GCID>_all.deb
sudo apt install -y ./driveworks-cross_<dw-ver>~linux<release-ver><GCID>_amd64.deb
sudo apt install -y ./driveworks-samples_<dw-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-stm_<dw-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-stm-cross_<dw-ver>~linux<reease-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-stm-samples_<dw-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-cgf_<dw-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-cgf-data_<dw-ver>-<GCID>_all.deb
sudo apt install -y ./driveworks-cgf-cross_<dw-ver>~linux<release-ver>-<GCID>_amd64.deb
sudo apt install -y ./driveworks-cgf-samples_<dw-ver>-<GCID>_amd64.deb
  2. (OPTIONAL) Execute the steps below only if enabling STM and CGF with Yocto:
    mkdir <top>/drive-linux/toolkits/driveworks
cp driveworks-cgf_<dw-ver>~linux<release-ver>-<GCID>_arm64.deb   <top>/drive-linux/toolkits/driveworks
cp driveworks-stm_<dw-ver>~linux<release-ver>-<GCID>_arm64.deb  <top>/drive-linux/toolkits/driveworks