Verifying the NVIDIA DriveWorks SDK Installation

Table of Contents

• File System Layout
• Running the Sample Binaries
  • Host System x86
  • Guest Docker Container on Host System x86
  • NVIDIA DRIVE Orin Target System aarch64

File System Layout

Once you have successfully followed the installation steps in Getting Started With the NVIDIA DriveWorks SDK, you will find the following NVIDIA® DriveWorks SDK folders on the host system, inside the guest NVIDIA DRIVE® SDK Docker container, or on the NVIDIA DRIVE Orin™ target system:

Path	Description
/usr/local/driveworks	installation root
/usr/local/driveworks/tools	tools binaries for host x86 or target aarch64

The following are present on the host system x86 or inside the guest NVIDIA DRIVE SDK Docker container for host system x86 and target system Linux aarch64:

Path	Description
/usr/local/driveworks/bin	precompiled samples binaries for host x86
/usr/local/driveworks/data	samples and tools data
/usr/local/driveworks/doc	documentation
/usr/local/driveworks/samples	samples sources
/usr/local/driveworks/targets/aarch64-Linux	libraries and header files for target Linux aarch64 for cross-compiling
/usr/local/driveworks/targets/x86_64-Linux	libraries and header files for host x86
/usr/local/driveworks/include	symbolic link to targets/x86_64-Linux/include
/usr/local/driveworks/lib	symbolic link to targets/x86_64-Linux/lib

The following are present on the host system x86 or inside the guest NVIDIA DRIVE SDK Docker container for host system x86 and target system QNX aarch64:

Path	Description
/usr/local/driveworks/targets/aarch64-QNX	libraries and header files for target QNX aarch64 for cross-compiling
/usr/local/driveworks/targets/x86_64-Linux	libraries and header files for host x86
/usr/local/driveworks/include	symbolic link to targets/x86_64-Linux/include
/usr/local/driveworks/lib	symbolic link to targets/x86_64-Linux/lib

The following are present on the NVIDIA DRIVE Orin target system Linux aarch64:

Path	Description
/usr/local/driveworks/bin	precompiled samples binaries for target Linux aarch64
/usr/local/driveworks/data	samples and tools data
/usr/local/driveworks/doc	documentation
/usr/local/driveworks/samples	samples sources
/usr/local/driveworks/targets/aarch64-Linux	libraries and header files for target Linux aarch64
/usr/local/driveworks/include	symbolic link to targets/aarch64-Linux/include
/usr/local/driveworks/lib	symbolic link to targets/aarch64-Linux/lib

The following are present on the NVIDIA DRIVE Orin target system QNX aarch64:

Path	Description
/usr/local/driveworks/targets/aarch64-QNX	libraries and header files for target QNX aarch64
/usr/local/driveworks/include	symbolic link to targets/aarch64-QNX/include
/usr/local/driveworks/lib	symbolic link to targets/aarch64-QNX/lib

Running the Sample Binaries

Host System x86

To run the "Hello World" sample, use the following command on the host 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/bin may be run inside the guest Docker container in a similar way.

For a full list of samples, please see Samples.

Guest Docker Container on Host System x86

First start the NVIDIA DRIVE SDK Docker container with the following command on the host system:

% docker run -it -v /dev/bus/usb:/dev/bus/usb --gpus=all --privileged --net=host \
    nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86:6.0.3.0-0001

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 #.

To run the "Hello World" sample, use the following command inside the guest Docker container:

# /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/bin may be run inside the guest Docker container in a similar way.

For a full list of samples, please see Samples.

NVIDIA DRIVE Orin Target System aarch64

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 NVIDIA DRIVE Orin 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/bin may be run on the target system in a similar way.

For a full list of samples, please see Samples.