Please refer to the "NVIDIA DRIVE SDK Debian Package Installation Guide" for complete host system requirements, to install the NVIDIA® DRIVE® OS SDK Debian package repository and DRIVE OS SDK Debian package, 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.
Host System x86
Core Binaries Installation
We assume that you have installed the appropriate NVIDIA DRIVE OS SDK Debian package from the localrepo folder of the NVIDIA DRIVE OS SDK Debian package repository following the procedures in the "NVIDIA DRIVE SDK Debian Package
Installation Guide." In that guide you are asked to set an environment variable named $NV_WORKSPACE and that should remain set while following these instructions. We recommend setting $NV_WORKSPACE to /drive.
To install the NVIDIA DriveWorks SDK precompiled for the Linux x86 architecture onto the host system, use apt-get and dpkg to install the following Debian packages in order using the following commands on the host system.
Synchronize the APT package index:
Console output:
Get:1 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:1 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:2 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:3 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Hit:4 http:
Hit:5 http:
Hit:6 http:
Hit:7 http:
Reading package lists... Done
Install the following packages from the Ubuntu APT package repository:
sudo apt-get -y --no-install-recommends install \
cmake libdrm-dev libegl-dev libgl-dev libgles-dev libglu1-mesa-dev \
libglx-dev libqt5core5a libqt5gui5 libqt5qml5 libusb-1.0-0 libx11-dev \
libxcursor-dev libxinerama-dev libxrandr-dev libxxf86vm-dev pkg-config \
x11proto-dev zlib1g-dev
Partial console output:
The following additional packages will be installed:
fontconfig fontconfig-config fonts-dejavu-core libbsd0 libdbus-1-3
libdouble-conversion3 libdrm-amdgpu1 libdrm-common libdrm-intel1
libdrm-nouveau2 libdrm-radeon1 libdrm2 libedit2 libegl-mesa0 libegl1 libelf1
libevdev2 libfontconfig1 libfreetype6 libgbm1 libgl1 libgl1-mesa-dri
libglapi-mesa libgles1 libgles2 libglib2.0-0 libglu1-mesa libglvnd0
libglx-mesa0 libglx0 libgraphite2-3 libgudev-1.0-0 libharfbuzz0b libice6
libinput-bin libinput10 libjpeg-turbo8 libjpeg8 libllvm12 libmtdev1
libpciaccess0 libpcre2-16-0 libpng16-16 libpthread-stubs0-dev libqt5dbus5
libqt5network5 libsensors-config libsensors5 libsm6 libvulkan1 libwacom-common
libwacom2 libwayland-client0 libwayland-server0 libx11-6 libx11-data
libx11-xcb1 libxau-dev libxau6 libxcb-dri2-0 libxcb-dri3-0 libxcb-glx0
libxcb-icccm4 libxcb-image0 libxcb-keysyms1 libxcb-present0 libxcb-randr0
libxcb-render-util0 libxcb-render0 libxcb-shape0 libxcb-shm0 libxcb-sync1
libxcb-util1 libxcb-xfixes0 libxcb-xinerama0 libxcb-xinput0 libxcb-xkb1
libxcb1 libxcb1-dev libxcursor1 libxdmcp-dev libxdmcp6 libxext-dev libxext6
libxfixes-dev libxfixes3 libxinerama1 libxkbcommon-x11-0 libxkbcommon0
libxrandr2 libxrender-dev libxrender1 libxshmfence1 libxxf86vm1 ucf x11-common
x11proto-randr-dev x11proto-xext-dev x11proto-xf86vidmode-dev
x11proto-xinerama-dev xkb-data xorg-sgml-doctools xtrans-dev
....
Selecting previously unselected package libgles-dev:amd64.
Preparing to unpack ...
Install the cuda-repo-ubuntu2004-*-local repository package:
% sudo dpkg -i extras/cuda-repo-ubuntu2004-*-local_*_amd64.deb
Console output:
Selecting previously unselected package cuda-repo-ubuntu2004-*-local.
Preparing to unpack .../cuda-repo-ubuntu2004-*-local_*_amd64.deb ...
Unpacking cuda-repo-ubuntu2004-*-local ...
Setting up cuda-repo-ubuntu2004-*-local ...
The public CUDA GPG key does not appear to be installed.
To install the key, run this command:
sudo apt-key add /var/cuda-repo-ubuntu2004-*-local/7fa2af80.pub
Install the cuda-repo-ubuntu2004-*-local repository GPG key:
% sudo apt-key add /var/cuda-repo-ubuntu2004-*-local/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:2 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:2 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:3 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:4 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:5 file:/var/cuda-repo-ubuntu2004-*-local Release.gpg
Get:6 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:6 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:7 file:/var/cuda-repo-ubuntu2004-*-local Packages
Hit:8 http:
Hit:9 http:
Hit:10 http:
Hit:11 http:
Reading package lists... Done
Install the cuda-runtime-11-4 and cuda-toolkit-11-4 packages:
% sudo apt-get -y --no-install-recommends install cuda-runtime-11-4 cuda-toolkit-11-4
Partial console output:
The following additional packages will be installed:
adwaita-icon-theme bubblewrap ca-certificates-java cuda-cccl-11-4
cuda-command-line-tools-11-4 cuda-compiler-11-4 cuda-cudart-11-4
cuda-cudart-dev-11-4 cuda-cuobjdump-11-4 cuda-cupti-11-4 cuda-cupti-dev-11-4
cuda-cuxxfilt-11-4 cuda-documentation-11-4 cuda-driver-dev-11-4 cuda-drivers
cuda-drivers-470 cuda-gdb-11-4 cuda-libraries-11-4 cuda-libraries-dev-11-4
cuda-memcheck-11-4 cuda-nsight-11-4 cuda-nsight-compute-11-4
cuda-nsight-systems-11-4 cuda-nvcc-11-4 cuda-nvdisasm-11-4 cuda-nvml-dev-11-4
cuda-nvprof-11-4 cuda-nvprune-11-4 cuda-nvrtc-11-4 cuda-nvrtc-dev-11-4
cuda-nvtx-11-4 cuda-nvvp-11-4 cuda-samples-11-4 cuda-sanitizer-11-4
cuda-toolkit-11-4-config-common cuda-toolkit-11-config-common
cuda-toolkit-config-common cuda-tools-11-4 cuda-visual-tools-11-4 dbus
dbus-user-session dconf-gsettings-backend dconf-service dctrl-tools
default-jre default-jre-headless dictionaries-common distro-info-data dkms
emacsen-common evolution-data-server evolution-data-server-common gcr
geoclue-2.0 gir1.2-accountsservice-1.0 gir1.2-atk-1.0 gir1.2-atspi-2.0
gir1.2-freedesktop gir1.2-gck-1 gir1.2-gcr-3 gir1.2-gdesktopenums-3.0
gir1.2-gdkpixbuf-2.0 gir1.2-gdm-1.0 gir1.2-geoclue-2.0 gir1.2-glib-2.0
gir1.2-gnomebluetooth-1.0 gir1.2-gnomedesktop-3.0 gir1.2-graphene-1.0
gir1.2-gtk-3.0 gir1.2-gweather-3.0 gir1.2-ibus-1.0 gir1.2-json-1.0
gir1.2-mutter-6 gir1.2-nm-1.0 gir1.2-nma-1.0 gir1.2-pango-1.0
gir1.2-polkit-1.0 gir1.2-rsvg-2.0 gir1.2-soup-2.4 gir1.2-upowerglib-1.0 gjs
glib-networking glib-networking-common glib-networking-services
gnome-desktop3-data gnome-keyring gnome-settings-daemon
gnome-settings-daemon-common gnome-shell gnome-shell-common
gsettings-desktop-schemas gtk-update-icon-cache hicolor-icon-theme
humanity-icon-theme hunspell-en-us iso-codes java-common
keyboard-configuration kmod libaccountsservice0 libapparmor1 libargon2-1
libasound2 libasound2-data libaspell15 libasyncns0 libatk-bridge2.0-0
libatk1.0-0 libatk1.0-data libatspi2.0-0 libavahi-client3 libavahi-common-data
libavahi-common3 libavahi-glib1 libboost-thread1.71.0 libcairo-gobject2
libcairo2 libcamel-1.2-62 libcanberra-gtk3-0 libcanberra0 libcap2 libcap2-bin
libcolord2 libcryptsetup12 libcublas-11-4 libcublas-dev-11-4 libcufft-11-4
libcufft-dev-11-4 libcups2 libcurand-11-4 libcurand-dev-11-4 libcusolver-11-4
libcusolver-dev-11-4 libcusparse-11-4 libcusparse-dev-11-4 libdatrie1
libdconf1 libdevmapper1.02.1 libebackend-1.2-10 libebook-1.2-20
libebook-contacts-1.2-3 libecal-2.0-1 libedata-book-1.2-26 libedata-cal-2.0-1
libedataserver-1.2-24 libedataserverui-1.2-2 libenchant-2-2 libepoxy0 libflac8
libfontenc1 libfribidi0 libgck-1-0 libgcr-base-3-1 libgcr-ui-3-1
libgdata-common libgdata22 libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-common libgdm1
libgeoclue-2-0 libgeocode-glib0 libgif7 libgirepository-1.0-1 libgjs0g
libglib2.0-bin libglib2.0-data libgnome-autoar-0-0 libgnome-bluetooth13
libgnome-desktop-3-19 libgoa-1.0-0b libgoa-1.0-common libgraphene-1.0-0
libgstreamer-gl1.0-0 libgstreamer-plugins-base1.0-0 libgstreamer1.0-0
libgtk-3-0 libgtk-3-common libgweather-3-16 libgweather-common
libharfbuzz-icu0 libhunspell-1.7-0 libhyphen0 libibus-1.0-5 libical3 libip4tc2
libjansson4 libjavascriptcoregtk-4.0-18 libjbig0 libjson-c4 libjson-glib-1.0-0
libjson-glib-1.0-common libkmod2 liblcms2-2 libltdl7 libmm-glib0 libmozjs-68-0
libmutter-6-0 libnm0 libnma0 libnotify4 libnpp-11-4 libnpp-dev-11-4 libnspr4
libnss3 libnvidia-cfg1-470 libnvidia-common-470 libnvidia-compute-470
libnvidia-decode-470 libnvidia-encode-470 libnvidia-extra-470
libnvidia-fbc1-470 libnvidia-gl-470 libnvidia-ifr1-470 libnvjpeg-11-4
libnvjpeg-dev-11-4 libogg0 libopenjp2-7 liborc-0.4-0 libpam-systemd
libpango-1.0-0 libpangocairo-1.0-0 libpangoft2-1.0-0 libpangoxft-1.0-0
libpcsclite1 libphonenumber7 libpixman-1-0 libpolkit-agent-1-0
libpolkit-gobject-1-0 libprotobuf17 libproxy1v5 libpulse-mainloop-glib0
libpulse0 librest-0.7-0 librsvg2-2 librsvg2-common libsecret-1-0
libsecret-common libsndfile1 libsoup-gnome2.4-1 libsoup2.4-1
libstartup-notification0 libtdb1 libtext-iconv-perl libthai-data libthai0
libtiff5 libunwind8 libupower-glib3 libvdpau1 libvorbis0a libvorbisenc2
libvorbisfile3 libwayland-cursor0 libwayland-egl1 libwebkit2gtk-4.0-37
libwebp6 libwebpdemux2 libwoff1 libwrap0 libxaw7 libxcb-res0 libxcomposite1
libxdamage1 libxfont2 libxft2 libxi6 libxkbfile1 libxmu6 libxmuu1 libxnvctrl0
libxpm4 libxslt1.1 libxt6 libxtst6 lsb-release mutter mutter-common
nsight-compute-2021.2.2 nsight-systems-2021.3.2 nvidia-compute-utils-470
nvidia-dkms-470 nvidia-driver-470 nvidia-kernel-common-470
nvidia-kernel-source-470 nvidia-modprobe nvidia-settings nvidia-utils-470
openjdk-11-jre openjdk-11-jre-headless p11-kit p11-kit-modules pinentry-gnome3
pkg-config python3-gi python3-xkit screen-resolution-extra shared-mime-info
sound-theme-freedesktop systemd systemd-sysv systemd-timesyncd ubuntu-mono
ubuntu-wallpapers ubuntu-wallpapers-focal udev x11-xkb-utils x11-xserver-utils
xdg-dbus-proxy xserver-common xserver-xorg-core xserver-xorg-video-nvidia-470
zenity zenity-common
....
Selecting previously unselected package cuda-runtime-11-4.
Preparing to unpack ...
Install the cudnn-local-repo-ubuntu2004-* repository package:
% sudo dpkg -i extras/cudnn-local-repo-ubuntu2004-*_amd64.deb
Console output:
Selecting previously unselected package cudnn-local-repo-ubuntu2004-*.
Preparing to unpack .../cudnn-local-repo-ubuntu2004-*_amd64.deb ...
Unpacking cudnn-local-repo-ubuntu2004-* ...
Setting up cudnn-local-repo-ubuntu2004-* ...
Install the cudnn-local-repo-ubuntu2004-* repository GPG key:
% sudo apt-key add /var/cudnn-local-repo-ubuntu2004-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:2 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:2 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:3 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:3 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:4 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:5 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:6 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:7 file:/var/cudnn-local-repo-ubuntu2004-* Release.gpg
Get:8 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:8 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Hit:10 http:
Hit:11 http:
Hit:12 http:
Get:13 file:/var/cudnn-local-repo-ubuntu2004-* Packages
Hit:14 http:
Reading package lists... Done
Install the libcudnn8-dev package:
% sudo apt-get -y --no-install-recommends install libcudnn8-dev
Partial console output:
The following additional packages will be installed:
libcudnn8
....
Selecting previously unselected package libcudnn8.
Preparing to unpack .../libcudnn8_*_amd64.deb ...
Unpacking libcudnn8 ...
Selecting previously unselected package libcudnn8-dev.
Preparing to unpack .../libcudnn8-dev_*_amd64.deb ...
Unpacking libcudnn8-dev ...
Setting up libcudnn8 ...
Setting up libcudnn8-dev ...
update-alternatives: using /usr/include/x86_64-linux-gnu/cudnn_v8.h to provide /usr/include/cudnn.h (libcudnn) in auto mode
Install the nv-tensorrt-repo-ubuntu2004-*-x86-host-* repository package:
% sudo dpkg -i extras/nv-tensorrt-repo-ubuntu2004-*-x86-host-*_amd64.deb
Console output:
Selecting previously unselected package nv-tensorrt-repo-ubuntu2004-*-x86-host-ea-*.
Preparing to unpack .../nv-tensorrt-repo-ubuntu2004-*-x86-host-*_amd64.deb ...
Unpacking nv-tensorrt-repo-ubuntu2004-*-x86-host-* ...
Setting up nv-tensorrt-repo-ubuntu2004-*-x86-host-* ...
Install the nv-tensorrt-repo-ubuntu2004-*-x86-host-* repository GPG key:
% sudo apt-key add /var/nv-tensorrt-repo-ubuntu2004-*-x86-host-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:1 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:2 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:2 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:3 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:3 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:4 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:4 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:5 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:6 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:7 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:8 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:5 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:6 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:7 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:8 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:9 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:9 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:10 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release.gpg
Get:10 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release.gpg
Get:11 http:
Hit:12 http:
Get:13 http:
Get:15 http:
Get:17 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Packages
Reading package lists... Done
Install the tensorrt package:
% sudo apt-get -y --no-install-recommends install tensorrt
Partial console output:
The following additional packages will be installed:
libnvinfer-bin libnvinfer-dev libnvinfer-doc libnvinfer-plugin-dev
libnvinfer-plugin8 libnvinfer-samples libnvinfer8 libnvonnxparsers-dev
libnvonnxparsers8 libnvparsers-dev libnvparsers8
....
Selecting previously unselected package tensorrt.
Preparing to unpack .../11-tensorrt_*_amd64.deb ...
Unpacking tensorrt ...
....
Setting up tensorrt ...
Processing triggers for libc-bin ...
Install the nvsci package:
% sudo dpkg -i extras/nvsci_*.deb
Console output:
Selecting previously unselected package nvsci.
Preparing to unpack .../nvsci_*.deb ...
Unpacking nvsci ...
Setting up nvsci ...
Install the driveworks package:
% sudo dpkg -i extras/driveworks-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks.
Preparing to unpack driveworks-*_linux-amd64-ubuntu ...
Unpacking driveworks ...
Setting up driveworks ...
Processing triggers for libc-bin ...
Install the driveworks_stm package:
% sudo dpkg -i extras/driveworks_stm-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_stm.
Preparing to unpack driveworks_stm-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_stm ...
Setting up driveworks_stm ...
Install the driveworks_cgf package:
% sudo dpkg -i extras/driveworks_cgf-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_cgf.
Preparing to unpack driveworks_cgf-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_cgf ...
Setting up driveworks_cgf ...
The NVIDIA DriveWorks SDK precompiled for the Linux x86 architecture is then installed under /usr/local/driveworks on the host system.
Samples Binaries Installation
We assume that you have followed the instructions for "Core Binaries
Installation" for the host system x86 above.
To install the NVIDIA DriveWorks SDK samples precompiled for the Linux x86 architecture onto the host system, use dpkg to install the following Debian packages in order using the following commands on the host system.
Install the driveworks_data package:
% sudo dpkg -i extras/driveworks_data-*_linux-amd64-ubuntu.deb
The environment variable $NFS_MOUNT 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-amd64-ubuntu.deb ...
Unpacking driveworks_data ...
Setting up driveworks_data ...
Install the driveworks_samples package:
% sudo dpkg -i extras/driveworks_samples-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_samples.
Preparing to unpack driveworks_samples-*_linux-amd64-ubuntu ...
Unpacking driveworks_samples ...
Setting up driveworks_samples ...
Install the driveworks_stm_samples package:
% sudo dpkg -i extras/driveworks_stm_samples-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_stm_samples.
Preparing to unpack driveworks_stm_samples-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_stm_samples ...
Setting up driveworks_stm_samples ...
Install the driveworks_cgf_samples package:
% sudo dpkg -i extras/driveworks_cgf_samples-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_cgf_samples.
Preparing to unpack driveworks_cgf_samples-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_cgf_samples ...
Setting up driveworks_cgf_samples ...
The NVIDIA DriveWorks SDK samples precompiled for the Linux x86 architecture are then installed under /usr/local/driveworks/bin on the host system.
Samples Compilation From Source
We assume that you have followed the instructions for "Core Binaries
Installation" and "Samples Binaries Installation" for the host system x86 above.
The NVIDIA DriveWorks SDK is now precompiled and preinstalled for the Linux x86 architecture on the host system under the path /usr/local/driveworks to enable compiling samples and applications that leverage the NVIDIA DriveWork SDK. Source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are now located under the path /usr/local/driveworks/samples.
To compile the samples, first create the output directory and configure the project:
% mkdir -p $DRIVEWORKS_WORKSPACE/build-x86
% cmake -B $DRIVEWORKS_WORKSPACE/build-x86 -DCMAKE_BUILD_TYPE=Release \
-S /usr/local/driveworks/samples
The environment variable $DRIVEWORKS_WORKSPACE denotes the location on the host file system below which you would like the compiled samples to be built.
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
-- Driveworks Samples install dir: $DRIVEWORKS_WORKSPACE/build-x86/install
-- 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/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 dwshared library in /usr/local/driveworks/targets/x86_64-Linux/lib/libdwshared.so
-- 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
-- Configuring done
-- Generating done
-- Build files have been written to: $DRIVEWORKS_WORKSPACE/build-x86
Build the project:
% cd $DRIVEWORKS_WORKSPACE/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: $DRIVEWORKS_WORKSPACE/build-x86/install/bin/sample_hello_world
-- Set runtime path of "$DRIVEWORKS_WORKSPACE/build-x86/install/bin/sample_hello_world" to ""
To run the "Hello World" sample, use the following command inside the guest Docker container:
% $DRIVEWORKS_WORKSPACE/build-x86/install/bin/sample_hello_world
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path $DRIVEWORKS_WORKSPACE/build-x86/install/bin may be run inside the guest Docker container 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 host system, use dpkg to install the following Debian packages in order using the following commands on the host system.
Install the driveworks_doc package:
% sudo dpkg -i extras/driveworks_doc-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_doc.
Preparing to unpack driveworks_doc-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_doc ...
Setting up driveworks_doc ...
Install the driveworks_cgf_doc package:
% sudo dpkg -i extras/driveworks_cgf_doc-*_linux-amd64-ubuntu.deb
Console output:
Selecting previously unselected package driveworks_cgf_doc.
Preparing to unpack driveworks_cgf_doc-*_linux-amd64-ubuntu.deb ...
Unpacking driveworks_cgf_doc ...
Setting up driveworks_cgf_doc ...
The NVIDIA DriveWorks SDK documentation is then installed under /usr/local/driveworks/doc on the host system.
Verification and Running the Samples
For instructions on verifying the file system layout and running the Linux x86 samples binaries on the host system, please see Verifying the NVIDIA DriveWorks SDK Installation .
NVIDIA DRIVE Orin Target System Linux aarch64
Core Binaries Installation
We assume that you have flashed your NVIDIA DRIVE Orin target system using the appropriate NVIDIA DRIVE OS SDK Debian package from the localrepo folder of the NVIDIA DRIVE OS SDK Debian package repository and finalized your target system setup following the procedures in the "NVIDIA DRIVE SDK Debian Package
Installation Guide." In that guide you are asked to set an environment variable named $NV_WORKSPACE and that should remain set while following these instructions. We recommend setting $NV_WORKSPACE to /drive. The NVIDIA DriveWorks SDK will be precompiled for the Linux aarch64 architecture and preinstalled on the target system under the path /usr/local/driveworks.
Samples Binaries Installation
To install the NVIDIA DriveWorks SDK samples precompiled for the Linux aarch64 architecture 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 SDK
Debian Package Installation Guide":
extras/driveworks_data-*_drive-linux-*.debextras/driveworks_samples-*_drive-linux-*.debextras/driveworks_stm_samples-*_drive-linux-*.debextras/driveworks_cgf_samples-*_drive-linux-*.deb
- Warning
- Enter all subsequent commands in this section at the target system command prompt
$.
Connect to the target system using minicom 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 $NFS_MOUNT/driveworks_data-*_drive-linux-*.deb
The environment variable $NFS_MOUNT 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-*_drive-linux-*.deb ...
Unpacking driveworks_data ...
Setting up driveworks_data ...
Install the driveworks_samples package:
% sudo dpkg -i $NFS_MOUNT/driveworks_samples-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_samples.
Preparing to unpack driveworks_samples-*_drive-linux-*.deb ...
Unpacking driveworks_samples ...
Setting up driveworks_samples ...
Install the driveworks_stm_samples package:
% sudo dpkg -i $NFS_MOUNT/driveworks_stm_samples-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_stm_samples.
Preparing to unpack driveworks_stm_samples-*_drive-linux-*.deb ...
Unpacking driveworks_stm_samples ...
Setting up driveworks_stm_samples ...
Install the driveworks_cgf_samples package:
% sudo dpkg -i $NFS_MOUNT/driveworks_cgf_samples-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_cgf_samples.
Preparing to unpack driveworks_cgf_samples-*_drive-linux-*.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.
Samples Cross-Compilation From Source
We assume that you have followed the instructions for "Core Binaries
Installation" and "Samples Binaries Installation" for the host system x86 above.
The source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are now located under the path /usr/local/driveworks/samples.
To install the NVIDIA DriveWorks SDK precompiled for the Linux aarch64 architecture onto the host system, use apt-get and dpkg to install the following Debian packages in order using the following commands on the host system.
Install the cuda-repo-cross-aarch64-*-local repository package:
% sudo dpkg -i extras/cuda-repo-cross-aarch64-*-local_*_all.deb
Console output:
Selecting previously unselected package cuda-repo-cross-aarch64-*-local.
Preparing to unpack .../cuda-repo-cross-aarch64-*-local_*_all.deb ...
Unpacking cuda-repo-cross-aarch64-*-local ...
Install the cuda-repo-cross-aarch64-*-local repository GPG key:
% sudo apt-key add /var/cuda-repo-cross-aarch64-*-local/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:3 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:4 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:4 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:5 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:5 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:6 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:7 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:8 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:9 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:10 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:11 file:/var/cuda-repo-cross-aarch64-*-local Release.gpg
Get:12 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:12 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:13 http:
Hit:14 http:
Get:15 http:
Get:16 http:
Get:17 file:/var/cuda-repo-cross-aarch64-*-local Packages
Get:18 http:
Get:19 http:
Get:20 http:
Get:21 http:
Get:22 http:
Get:23 http:
Reading package lists... Done
Install the cuda-cross-aarch64-11-4 package:
% sudo apt-get -y --no-install-recommends install cuda-cross-aarch64-11-4
Partial console output:
The following additional packages will be installed:
binutils-aarch64-linux-gnu cpp-9-aarch64-linux-gnu cpp-aarch64-linux-gnu
cuda-cccl-cross-aarch64-11-4 cuda-cudart-cross-aarch64-11-4
cuda-cupti-cross-aarch64-11-4 cuda-driver-cross-aarch64-11-4
cuda-nsight-compute-addon-l4t-11-4 cuda-nvcc-cross-aarch64-11-4
cuda-nvml-cross-aarch64-11-4 cuda-nvprof-cross-aarch64-11-4
cuda-nvrtc-cross-aarch64-11-4 g++-9-aarch64-linux-gnu g++-aarch64-linux-gnu
gcc-10-cross-base gcc-9-aarch64-linux-gnu gcc-9-aarch64-linux-gnu-base
gcc-9-cross-base gcc-aarch64-linux-gnu libasan5-arm64-cross
libatomic1-arm64-cross libc6-arm64-cross libc6-dev-arm64-cross
libcublas-cross-aarch64-11-4 libcudla-cross-aarch64-11-4
libcufft-cross-aarch64-11-4 libcurand-cross-aarch64-11-4
libcusolver-cross-aarch64-11-4 libcusparse-cross-aarch64-11-4
libgcc-9-dev-arm64-cross libgcc-s1-arm64-cross libgomp1-arm64-cross
libitm1-arm64-cross liblsan0-arm64-cross libnpp-cross-aarch64-11-4
libstdc++-9-dev-arm64-cross libstdc++6-arm64-cross libtsan0-arm64-cross
libubsan1-arm64-cross linux-libc-dev-arm64-cross
nsight-compute-addon-l4t-2021.2.2
....
Selecting previously unselected package cuda-cross-aarch64-11-4.
Preparing to unpack ...
Install the cudnn-local-repo-cross-aarch64-* repository package:
% sudo dpkg -i extras/cudnn-local-repo-cross-aarch64-*_all.deb
Console output:
Selecting previously unselected package cudnn-local-repo-cross-aarch64-*.
Preparing to unpack .../cudnn-local-repo-cross-aarch64-*_all.deb ...
Unpacking cudnn-local-repo-cross-aarch64-* ...
Setting up cudnn-local-repo-cross-aarch64-* ...
Install the cudnn-local-repo-cross-aarch64-* repository GPG key:
% sudo apt-key add /var/cudnn-local-repo-cross-aarch64-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Ign:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Get:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:6 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:6 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:7 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:8 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:9 file:/var/cudnn-local-repo-cross-aarch64-* Release
Get:10 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:11 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:12 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:13 file:/var/cudnn-local-repo-cross-aarch64-* Release.gpg
Get:14 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:14 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Hit:15 http:
Hit:16 http:
Hit:17 http:
Hit:18 http:
Get:19 file:/var/cudnn-local-repo-cross-aarch64-* Packages
Reading package lists... Done
Install the libcudnn8-cross-aarch64 package:
sudo apt-get -y --no-install-recommends install libcudnn8-cross-aarch64
Partial console output:
The following NEW packages will be installed:
libcudnn8-cross-aarch64
....
Selecting previously unselected package libcudnn8-cross-aarch64.
Preparing to unpack .../libcudnn8-cross-aarch64_*_all.deb ...
Unpacking libcudnn8-cross-aarch64 ...
Setting up libcudnn8-cross-aarch64 ...
update-alternatives: using /usr/include/aarch64-linux-gnu/cudnn_*.h to provide /usr/include/aarch64-linux-gnu/cudnn.h (libcudnn_cross_aarch64) in auto mode
Install the nv-tensorrt-repo-*-cross-* repository package:
% sudo dpkg -i extras/nv-tensorrt-repo-*-cross-*_amd64.deb
Console output:
Selecting previously unselected package nv-tensorrt-repo-*-cross-*.
Preparing to unpack .../nv-tensorrt-repo-*-cross-*_amd64.deb ...
Unpacking nv-tensorrt-repo-*-cross-* ...
Setting up nv-tensorrt-repo-*-cross-* ...
Install the nv-tensorrt-repo-*-cross-* repository GPG key:
% sudo apt-key add /var/nv-tensorrt-repo-*-cross-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Ign:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Get:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:6 file:/var/nv-tensorrt-repo-*-cross-* InRelease
Ign:6 file:/var/nv-tensorrt-repo-*-cross-* InRelease
Get:7 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:7 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:8 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:9 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:10 file:/var/cudnn-local-repo-cross-aarch64-* Release
Get:11 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:12 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:13 file:/var/nv-tensorrt-repo-*-cross-* Release
Get:14 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:15 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:15 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:16 file:/var/nv-tensorrt-repo-*-cross-* Release.gpg
Hit:17 http:
Hit:18 http:
Hit:19 http:
Hit:20 http:
Get:21 file:/var/nv-tensorrt-repo-*-cross-* Packages
Install the tensorrt-cross-aarch64 package:
% sudo apt-get -y --no-install-recommends install tensorrt-cross-aarch64
Partial console output:
The following additional packages will be installed:
libnvinfer-dev-cross-aarch64 libnvinfer-plugin-dev-cross-aarch64
libnvinfer-plugin8-cross-aarch64 libnvinfer8-cross-aarch64
libnvonnxparsers-dev-cross-aarch64 libnvonnxparsers8-cross-aarch64
libnvparsers-dev-cross-aarch64 libnvparsers8-cross-aarch64
....
Selecting previously unselected package tensorrt-cross-aarch64.
Preparing to unpack ...
Install the driveworks_cross package:
% sudo dpkg -i extras/driveworks_cross-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_cross.
Preparing to unpack driveworks_cross-*_drive-linux-*.deb ...
Unpacking driveworks_cross ...
Setting up driveworks_cross ...
Install the driveworks_stm_cross package:
% sudo dpkg -i extras/driveworks_stm_cross-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_stm_cross.
Preparing to unpack driveworks_stm_cross-*_drive-linux-*.deb ...
Unpacking driveworks_stm_cross ...
Setting up driveworks_stm_cross ...
Install the driveworks_cgf_cross package:
% sudo dpkg -i extras/driveworks_cgf_cross-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_cgf_cross.
Preparing to unpack driveworks_cgf_cross-*_drive-linux-*.deb ...
Unpacking driveworks_cgf_cross ...
Setting up driveworks_cgf_cross ...
The NVIDIA DriveWorks SDK precompiled for the Linux aarch64 architecture is then installed under /usr/local/driveworks/targets/aarch64-Linux on the host system to enable cross-compiling samples and applications that leverage the NVIDIA DriveWorks SDK.
To cross-compile the samples, first create the output directory and configure the project:
% mkdir -p $DRIVEWORKS_WORKSPACE/build-linux-aarch64
% cmake -B $DRIVEWORKS_WORKSPACE/build-linux-aarch64 -DCMAKE_BUILD_TYPE=Release \
-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5L.cmake \
-DVIBRANTE_PDK=$NV_WORKSPACE/drive-linux -S /usr/local/driveworks/samples
The environment variable $DRIVEWORKS_WORKSPACE denotes the location on the host file system below which you would like the cross-compiled samples to be built.
- Warning
- Ensure that the environment variable
$NV_WORKSPACE is set to the same value that was used when installing the NVIDIA DRIVE OS SDK Debian package.
Console output:
-- VIBRANTE_PDK = $NV_WORKSPACE/drive-linux
-- VIBRANTE_PDK_BRANCH = *
-- Vibrante version *
-- VIBRANTE_PDK = $NV_WORKSPACE/drive-linux
-- Vibrante version *
-- The C compiler identification is GNU *
-- The CXX compiler identification is GNU *
-- Check for working C compiler: $NV_WORKSPACE/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-gcc
-- Check for working C compiler: $NV_WORKSPACE/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: $NV_WORKSPACE/toolchains/aarch64--glibc--stable-*/bin/aarch64-linux-g++
-- Check for working CXX compiler: $NV_WORKSPACE/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: $NV_WORKSPACE/drive-linux/lib-target/libEGL.so
-- Found $NV_WORKSPACE/drive-linux/lib-target/libEGL.so:
-- - Includes: [$NV_WORKSPACE/drive-linux/include]
-- - Libraries: [$NV_WORKSPACE/drive-linux/lib-target/libEGL.so]
-- Found: $NV_WORKSPACE/drive-linux/lib-target/libdrm.so
-- Header at: $NV_WORKSPACE/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: $NV_WORKSPACE/drive-linux/include
-- Looking for XOpenDisplay in $NV_WORKSPACE/drive-linux/lib-target/libX11.so;$NV_WORKSPACE/drive-linux/lib-target/libXext.so
-- Looking for XOpenDisplay in $NV_WORKSPACE/drive-linux/lib-target/libX11.so;$NV_WORKSPACE/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
-- VIBRANTE_PDK_BRANCH = *
-- Found vibrante lib: $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante/lib/libudev.so
-- Found vibrante lib: $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante/lib/libusb-1.0.so
-- Found vibrante_Xlib: $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/samples/3rdparty/linux-aarch64/vibrante_Xlibs/lib/libXcursor.so
-- Driveworks Samples install dir: $DRIVEWORKS_WORKSPACE/build-linux-aarch64/install
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_base library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_base.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_calibration library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_calibration.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_egomotion library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_egomotion.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_imageprocessing library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_imageprocessing.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_pointcloudprocessing library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_pointcloudprocessing.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_sensors library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_sensors.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_vehicleio library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_vehicleio.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dw_dnn_base library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdw_dnn_base.so
-- Found 'dwvisualization/core/Visualization.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found driveworks_visualization library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdriveworks_visualization.so
-- Found 'dwvisualization/core/Visualization.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- optional driveworks_visualization_av library not found at $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib;$NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/lib - ok
-- Found 'dw/core/DynamicMemory.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwdynamicmemory library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwdynamicmemory.so
-- Found cuDNN: /usr/include/aarch64-linux-gnu (found version "*")
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwshared library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwshared.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwcgf library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwcgf.so
-- Found 'dw/core/Version.h' in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/include
-- Found dwframework_dwnodes library in $NV_WORKSPACE/drive-linux/filesystem/targetfs/usr/local/driveworks/targets/aarch64-Linux/lib/libdwframework_dwnodes.so
-- Configuring done
-- Generating done
-- Build files have been written to: $DRIVEWORKS_WORKSPACE/build-linux-aarch64
Build the project:
% cd $DRIVEWORKS_WORKSPACE/build-linux-aarch64
% make
Partial console output:
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: $DRIVEWORKS_WORKSPACE/build-linux-aarch64/install/bin/sample_hello_world
-- Set runtime path of "$DRIVEWORKS_WORKSPACE/build-linux-aarch64/install/bin/sample_hello_world" to ""
Copy the contents of $DRIVEWORKS_WORKSPACE/build-linux-aarch64/install to the NVIDIA DRIVE Orin target system using the NFS mount that you set up using the "NVIDIA
DRIVE SDK Debian Package Installation Guide".
- 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:
$ $NFS_MOUNT/sample_hello_world
The environment variable $NFS_MOUNT denotes the location on the target file system of the NFS mount.
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path $NFS_MOUNT 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 SDK Debian Package Installation
Guide":
extras/driveworks_doc-*_drive-linux-*.debextras/driveworks_cgf_doc-*_drive-linux-*.deb
Connect to the target system using minicom 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 $NFS_MOUNT/driveworks_doc-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_doc.
Preparing to unpack driveworks_doc-*_drive-linux-*.deb ...
Unpacking driveworks_doc ...
Setting up driveworks_doc ...
Install the driveworks_cgf_doc package:
$ sudo dpkg -i $NFS_MOUNT/driveworks_cgf_doc-*_drive-linux-*.deb
Console output:
Selecting previously unselected package driveworks_cgf_doc.
Preparing to unpack driveworks_cgf_doc-*_drive-* ...
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 and Running the Samples
For instructions on verifying the file system layout and running the Linux aarch64 samples binaries on the NVIDIA DRIVE Orin target system, please see Verifying the NVIDIA DriveWorks SDK Installation .
NVIDIA DRIVE Orin Target System QNX aarch64
Core Binaries Installation
We assume that you have flashed your NVIDIA DRIVE Orin target system using the appropriate NVIDIA DRIVE OS SDK Debian package from the localrepo folder of the NVIDIA DRIVE OS SDK Debian package repository and finalized your target system setup following the procedures in the "NVIDIA DRIVE SDK Debian Package
Installation Guide." In that guide you are asked to set an environment variable named $NV_WORKSPACE and that should remain set while following these instructions. We recommend setting $NV_WORKSPACE to /drive. The NVIDIA DriveWorks SDK will be precompiled for the QNX aarch64 architecture and preinstalled on the target system under the path /usr/local/driveworks.
Addendum to the NVIDIA DRIVE SDK Debian Package Installation Guide
Before flashing the NVIDIA DRIVE Orin system with NVIDIA DRIVE OS SDK during the procedures in the "NVIDIA DRIVE SDK Debian Package Installation
Guide," enter the following commands at the host command prompt:
% sudo cp $NV_WORKSPACE/extra/driveworks/usr/local/driveworks-5.4/targets/aarch64-QNX/config/tegra234-nvsciipc-stm.dtsi \
$NV_WORKSPACE/drive-qnx/bsp/device-tree/hardware/nvidia/platform/t23x/automotive/kernel-dts/common/qnx/tegra234-nvsciipc-stm.dtsi
% sudo cp $NV_WORKSPACE/extra/driveworks/usr/local/driveworks-5.4/targets/aarch64-QNX/config/tegra234-nvsciipc-stm.dtsi \
$NV_WORKSPACE/drive-foundation/platform-config/hardware/nvidia/platform/t23x/automotive/kernel-dts/common/qnx/tegra234-nvsciipc-stm.dtsi
Samples Binaries Installation
To install the NVIDIA DriveWorks SDK samples precompiled for the QNX aarch64 architecture onto the target system, unpack the following archives to the target system using the NFS mount that you set up using the "NVIDIA DRIVE SDK
Debian Package Installation Guide":
extras/driveworks_data-*_drive-qnx-*.tar.gzextras/driveworks_samples-*_drive-qnx-*.tar.gzextras/driveworks_stm_samples-*_drive-qnx-*.tar.gzextras/driveworks_cgf_samples-*_drive-qnx-*.tar.gz
Unpack these archives into the mount location on the host:
% sudo tar -xzf extras/driveworks_data-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
% sudo tar -xzf extras/driveworks_samples-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
% sudo tar -xzf extras/driveworks_stm_samples-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
% sudo tar -xzf extras/driveworks_cgf_samples-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
The environment variable $HOST_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 $NFS_MOUNT/usr/local/driveworks-*/bin on the target system, where $NFS_MOUNT is the path on the target to the NFS mounted location where you unpacked the samples.
Samples Cross-Compilation From Source
We assume that you have followed the instructions for "Core Binaries
Installation" and "Samples Binaries Installation" for the host system x86 above.
The source code and CMake project and toolchain files for the NVIDIA DriveWorks SDK samples are now located under the path /usr/local/driveworks/samples.
To install the NVIDIA DriveWorks SDK precompiled for the QNX aarch64 architecture onto the host system, use apt-get and dpkg to install the following Debian packages in order using the following commands on the host system.
Install the cuda-repo-cross-aarch64-*-local repository package:
% sudo dpkg -i extras/cuda-repo-cross-aarch64-*-local_*_all.deb
Console output:
Selecting previously unselected package cuda-repo-cross-aarch64-*-local.
Preparing to unpack .../cuda-repo-cross-aarch64-*-local_*_all.deb ...
Unpacking cuda-repo-cross-aarch64-*-local ...
Install the cuda-repo-cross-aarch64-*-local repository GPG key:
% sudo apt-key add /var/cuda-repo-cross-aarch64-*-local/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:3 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:4 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:4 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:5 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:5 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:6 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:7 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:8 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:9 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:10 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:11 file:/var/cuda-repo-cross-aarch64-*-local Release.gpg
Get:12 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:12 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:13 http:
Hit:14 http:
Get:15 http:
Get:16 http:
Get:17 file:/var/cuda-repo-cross-aarch64-*-local Packages
Get:18 http:
Get:19 http:
Get:20 http:
Get:21 http:
Get:22 http:
Get:23 http:
Reading package lists... Done
Install the cuda-cross-aarch64-11-4 package:
% sudo apt-get -y --no-install-recommends install cuda-cross-aarch64-11-4
Partial console output:
The following additional packages will be installed:
binutils-aarch64-linux-gnu cpp-9-aarch64-linux-gnu cpp-aarch64-linux-gnu
cuda-cccl-cross-aarch64-11-4 cuda-cudart-cross-aarch64-11-4
cuda-cupti-cross-aarch64-11-4 cuda-driver-cross-aarch64-11-4
cuda-nsight-compute-addon-l4t-11-4 cuda-nvcc-cross-aarch64-11-4
cuda-nvml-cross-aarch64-11-4 cuda-nvprof-cross-aarch64-11-4
cuda-nvrtc-cross-aarch64-11-4 g++-9-aarch64-linux-gnu g++-aarch64-linux-gnu
gcc-10-cross-base gcc-9-aarch64-linux-gnu gcc-9-aarch64-linux-gnu-base
gcc-9-cross-base gcc-aarch64-linux-gnu libasan5-arm64-cross
libatomic1-arm64-cross libc6-arm64-cross libc6-dev-arm64-cross
libcublas-cross-aarch64-11-4 libcudla-cross-aarch64-11-4
libcufft-cross-aarch64-11-4 libcurand-cross-aarch64-11-4
libcusolver-cross-aarch64-11-4 libcusparse-cross-aarch64-11-4
libgcc-9-dev-arm64-cross libgcc-s1-arm64-cross libgomp1-arm64-cross
libitm1-arm64-cross liblsan0-arm64-cross libnpp-cross-aarch64-11-4
libstdc++-9-dev-arm64-cross libstdc++6-arm64-cross libtsan0-arm64-cross
libubsan1-arm64-cross linux-libc-dev-arm64-cross
nsight-compute-addon-l4t-2021.2.2
....
Selecting previously unselected package cuda-cross-aarch64-11-4.
Preparing to unpack ...
Install the cudnn-local-repo-cross-aarch64-* repository package:
% sudo dpkg -i extras/cudnn-local-repo-cross-aarch64-*_all.deb
Console output:
Selecting previously unselected package cudnn-local-repo-cross-aarch64-*.
Preparing to unpack .../cudnn-local-repo-cross-aarch64-*_all.deb ...
Unpacking cudnn-local-repo-cross-aarch64-* ...
Setting up cudnn-local-repo-cross-aarch64-* ...
Install the cudnn-local-repo-cross-aarch64-* repository GPG key:
% sudo apt-key add /var/cudnn-local-repo-cross-aarch64-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Ign:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Get:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:6 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:6 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:7 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:8 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:9 file:/var/cudnn-local-repo-cross-aarch64-* Release
Get:10 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:11 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:12 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:13 file:/var/cudnn-local-repo-cross-aarch64-* Release.gpg
Get:14 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:14 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Hit:15 http:
Hit:16 http:
Hit:17 http:
Hit:18 http:
Get:19 file:/var/cudnn-local-repo-cross-aarch64-* Packages
Reading package lists... Done
Install the libcudnn8-cross-aarch64 package:
sudo apt-get -y --no-install-recommends install libcudnn8-cross-aarch64
Partial console output:
The following NEW packages will be installed:
libcudnn8-cross-aarch64
....
Selecting previously unselected package libcudnn8-cross-aarch64.
Preparing to unpack .../libcudnn8-cross-aarch64_*_all.deb ...
Unpacking libcudnn8-cross-aarch64 ...
Setting up libcudnn8-cross-aarch64 ...
update-alternatives: using /usr/include/aarch64-linux-gnu/cudnn_*.h to provide /usr/include/aarch64-linux-gnu/cudnn.h (libcudnn_cross_aarch64) in auto mode
Install the nv-tensorrt-repo-*-cross-* repository package:
% sudo dpkg -i extras/nv-tensorrt-repo-*-cross-*_amd64.deb
Console output:
Selecting previously unselected package nv-tensorrt-repo-*-cross-*.
Preparing to unpack .../nv-tensorrt-repo-*-cross-*_amd64.deb ...
Unpacking nv-tensorrt-repo-*-cross-* ...
Setting up nv-tensorrt-repo-*-cross-* ...
Install the nv-tensorrt-repo-*-cross-* repository GPG key:
% sudo apt-key add /var/nv-tensorrt-repo-*-cross-*/7fa2af80.pub
Console output:
Synchronize the APT package index:
Console output:
Get:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Ign:1 file:/var/cuda-repo-cross-aarch64-*-local InRelease
Get:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Ign:2 file:/var/cuda-repo-ubuntu2004-*-local InRelease
Get:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Ign:3 file:/var/cudnn-local-repo-cross-aarch64-* InRelease
Get:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Ign:4 file:/var/cudnn-local-repo-ubuntu2004-* InRelease
Get:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Ign:5 file:/var/nv-driveos-repo-sdk-*-release-* InRelease
Get:6 file:/var/nv-tensorrt-repo-*-cross-* InRelease
Ign:6 file:/var/nv-tensorrt-repo-*-cross-* InRelease
Get:7 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Ign:7 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* InRelease
Get:8 file:/var/cuda-repo-cross-aarch64-*-local Release
Get:9 file:/var/cuda-repo-ubuntu2004-*-local Release
Get:10 file:/var/cudnn-local-repo-cross-aarch64-* Release
Get:11 file:/var/cudnn-local-repo-ubuntu2004-* Release
Get:12 file:/var/nv-driveos-repo-sdk-*-release-* Release
Get:13 file:/var/nv-tensorrt-repo-*-cross-* Release
Get:14 file:/var/nv-tensorrt-repo-ubuntu2004-*-x86-host-* Release
Get:15 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Ign:15 file:/var/nv-driveos-repo-sdk-*-release-* Release.gpg
Get:16 file:/var/nv-tensorrt-repo-*-cross-* Release.gpg
Hit:17 http:
Hit:18 http:
Hit:19 http:
Hit:20 http:
Get:21 file:/var/nv-tensorrt-repo-*-cross-* Packages
Install the tensorrt-cross-aarch64 package:
% sudo apt-get -y --no-install-recommends install tensorrt-cross-aarch64
Partial console output:
The following additional packages will be installed:
libnvinfer-dev-cross-aarch64 libnvinfer-plugin-dev-cross-aarch64
libnvinfer-plugin8-cross-aarch64 libnvinfer8-cross-aarch64
libnvonnxparsers-dev-cross-aarch64 libnvonnxparsers8-cross-aarch64
libnvparsers-dev-cross-aarch64 libnvparsers8-cross-aarch64
....
Selecting previously unselected package tensorrt-cross-aarch64.
Preparing to unpack ...
Install the driveworks_cross package:
% sudo dpkg -i extras/driveworks_cross-*_drive-qnx-*.deb
Console output:
Selecting previously unselected package driveworks_cross.
Preparing to unpack driveworks_cross-*_drive-qnx-*.deb ...
Unpacking driveworks_cross ...
Setting up driveworks_cross ...
Install the driveworks_stm_cross package:
% sudo dpkg -i extras/driveworks_stm_cross-*_drive-qnx-*.deb
Console output:
Selecting previously unselected package driveworks_stm_cross.
Preparing to unpack driveworks_stm_cross-*_drive-qnx-*.deb ...
Unpacking driveworks_stm_cross ...
Setting up driveworks_stm_cross ...
Install the driveworks_cgf_cross package:
% sudo dpkg -i extras/driveworks_cgf_cross-*_drive-qnx-*.deb
Console output:
Selecting previously unselected package driveworks_cgf_cross.
Preparing to unpack driveworks_cgf_cross-*_drive-qnx-*.deb ...
Unpacking driveworks_cgf_cross ...
Setting up driveworks_cgf_cross ...
The NVIDIA DriveWorks SDK precompiled for the QNX aarch64 architecture is then installed under /usr/local/driveworks/targets/aarch64-QNX on the host system to enable cross-compiling samples and applications that leverage the NVIDIA DriveWorks SDK.
To cross-compile the samples, first create the output directory and configure the project:
% mkdir -p $DRIVEWORKS_WORKSPACE/build-qnx-aarch64
% export QNX_HOST=$QNX_BASE/host/linux/x86_64
% export QNX_TARGET=$QNX_BASE/target/qnx7
% export QNX_TOP=$NV_WORKSPACE/drive-qnx
% export QNX_VERSION=7.1.0
% export CUDA_INSTALL_DIR=/usr/local/cuda-safe-11.4
% export CUDA_PATH=/usr/local/cuda-safe-11.4
% export QNX_SDK_PATH=$NV_WORKSPACE/drive-qnx/
% cmake -B $DRIVEWORKS_WORKSPACE/build-qnx-aarch64 -DCMAKE_BUILD_TYPE=Release \
-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks/samples/cmake/Toolchain-V5Q.cmake \
-DCUDA_DIR=$CUDA_PATH \
-DVIBRANTE_PDK=$NV_WORKSPACE/drive-qnx -S /usr/local/driveworks/samples
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 built and the environment variable $QNX_BASE denotes the location on the host file system of the QNX Software Development Platform installation.
- Warning
- Ensure that the environment variable
$NV_WORKSPACE is set to the same value that was used when installing the NVIDIA DRIVE OS SDK Debian package.
Build the project:
% cd $DRIVEWORKS_WORKSPACE/build-qnx-aarch64
% make
Install the project:
Copy the contents of $DRIVEWORKS_WORKSPACE/build-qnx-aarch64/install to the NVIDIA DRIVE Orin target system using the NFS mount that you set up using the "NVIDIA
DRIVE SDK Debian Package Installation Guide".
- 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:
$ $NFS_MOUNT/sample_hello_world
The environment variable $NFS_MOUNT denotes the location on the target file system of the NFS mount.
Partial console output:
*************************************************
Welcome to Driveworks SDK
....
Happy autonomous driving!
Other samples from within the path $NFS_MOUNT 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 SDK Debian Package Installation
Guide":
extras/driveworks_doc-*_drive-qnx-*.tar.gzextras/driveworks_cgf_doc-*_drive-qnx-*.tar.gz
Unpack this archive into the mount location on the host:
% sudo tar -xzf extras/driveworks_doc-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
% sudo tar -xzf extras/driveworks_cgf_doc-*_drive-qnx-*.tar.gz -C $HOST_MOUNT_PATH
The NVIDIA DriveWorks SDK documentation is then unpacked under $NFS_MOUNT/usr/local/driveworks-*/doc on the target system.
Verification and Running the Samples
For instructions on verifying the file system layout and running the QNX aarch64 samples binaries on the NVIDIA DRIVE Orin target system, please see Verifying the NVIDIA DriveWorks SDK Installation .