dw-ros: A C++ repository from NVIDIA

install NVIDIA DRIVE™ OS 5.2.0 and DriveWorks 3.5 (Linux)

follow the download page to install NVIDIA DRIVE™ OS 5.2.0 and DriveWorks 3.5 (Linux).

cross compile ROS

prepare a cross-compilation sysroot

installing arm64 Debian dependencies with qemu-chroot

SYSROOT=~/nvidia/nvidia_sdk/DRIVE_OS_5.2.0_SDK_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs
cd $SYSROOT

sudo apt install qemu-user-static
sudo cp /usr/bin/qemu-aarch64-static usr/bin
sudo cp -b /etc/resolv.conf etc
sudo mount -o bind /dev dev
sudo mount -o bind /proc proc
sudo mount -o bind /sys sys

sudo LC_ALL=C chroot .
# apt update
# apt install libboost-all-dev libtinyxml-dev libtinyxml2-dev liblz4-dev libbz2-dev libapr1 libaprutil1 libconsole-bridge-dev libpoco-dev libgpgme-dev python-defusedxml python-rospkg python-catkin-pkg python-netifaces liblog4cxx-dev
# exit

sudo umount sys proc dev 
sudo rm usr/bin/qemu-aarch64-static
sudo mv etc/resolv.conf~ etc/resolv.conf
sudo rm -rf var/lib/apt/lists/*
sudo rm -rf dev/*
sudo rm -rf var/log/*
sudo rm -rf var/tmp/*
sudo rm -rf var/cache/apt/archives/*.deb
sudo rm -rf tmp/*

fix broken symlinks

The broken symlinks can be fixed temporarily with overlays, using commands similar to the following:

sudo mkdir /lib/aarch64-linux-gnu
sudo mkdir /tmp/ros-cc-overlayfs
sudo mount -t overlay -o lowerdir=$SYSROOT/lib/aarch64-linux-gnu,upperdir=/lib/aarch64-linux-gnu,workdir=/tmp/ros-cc-overlayfs overlay /lib/aarch64-linux-gnu

follow this page to install all prerequisites and then run below commands to download source of ROS Melodic Morenia (Ubuntu 18.04 is the target root file system of DRIVE OS Linux 5.2.0)

mkdir -p ~/ros_catkin_ws/src && cd ~/ros_catkin_ws
rosinstall_generator ros_comm sensor_msgs --rosdistro melodic --deps --tar > melodic-ros_comm.rosinstall 
vcs import src < melodic-ros_comm.rosinstall

invoke the cross compiler

create Toolchain-V5L.cmake in ~/Downloads with below content for cross compilation

set(CMAKE_SYSTEM_NAME Linux) 
# Specify the cross compiler 
set(TOOLCHAIN "$ENV{HOME}/nvidia/nvidia_sdk/DRIVE_OS_5.2.0_SDK_Linux_OS_DDPX/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu") 
set(CMAKE_CXX_COMPILER "${TOOLCHAIN}/bin/aarch64-linux-gnu-g++") 
set(CMAKE_C_COMPILER "${TOOLCHAIN}/bin/aarch64-linux-gnu-gcc") 
# Targetfs path 
set(ROS_SYSROOT "$ENV{HOME}/nvidia/nvidia_sdk/DRIVE_OS_5.2.0_SDK_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs") 
# Library paths 
set(LD_PATH "${ROS_SYSROOT}/usr/lib/aarch64-linux-gnu") 
set(LD_PATH_EXTRA "${ROS_SYSROOT}/lib/aarch64-linux-gnu") 
# setup compiler for cross-compilation 
set(CMAKE_CXX_FLAGS           "-fPIC"               CACHE STRING "c++ flags") 
set(CMAKE_C_FLAGS             "-fPIC"               CACHE STRING "c flags") 
set(CMAKE_SHARED_LINKER_FLAGS ""                    CACHE STRING "shared linker flags") 
set(CMAKE_MODULE_LINKER_FLAGS ""                    CACHE STRING "module linker flags") 
set(CMAKE_EXE_LINKER_FLAGS    ""                    CACHE STRING "executable linker flags") 
set(CMAKE_FIND_ROOT_PATH ${ROS_SYSROOT}) 
# Set compiler flags 
set(CMAKE_SHARED_LINKER_FLAGS   "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA} ${CMAKE_SHARED_LINKER_FLAGS}") 
set(CMAKE_MODULE_LINKER_FLAGS   "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA} ${CMAKE_SHARED_LINKER_FLAGS}") 
set(CMAKE_EXE_LINKER_FLAGS      "--sysroot=${CMAKE_FIND_ROOT_PATH} -L${LD_PATH} -L${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH} -Wl,-rpath,${LD_PATH_EXTRA} -Wl,-rpath,${LD_PATH_EXTRA} ${CMAKE_EXE_LINKER_FLAGS}") 
set(CMAKE_C_FLAGS "-fPIC --sysroot=${CMAKE_FIND_ROOT_PATH} -fpermissive -g" CACHE INTERNAL "" FORCE) 
set(CMAKE_CXX_FLAGS "-fPIC --sysroot=${CMAKE_FIND_ROOT_PATH} -fpermissive -g" CACHE INTERNAL "" FORCE) 
# Search for programs only in the build host directories 
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) 
# Search for libraries and headers only in the target directories 
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) 
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) 

# set system default include dir
include_directories(BEFORE SYSTEM ${ROS_SYSROOT}/../include)

cross compile ROS

src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=~/Downloads/Toolchain-V5L.cmake

cross compile nv_sensors

fetch nv_sensors source

git clone https://github.com/NVIDIA/dw-ros.git
cd dw-ros

set up ROS environment

source ~/ros_catkin_ws/install_isolated/setup.bash

cross compile nv_sensors and install it to ROS directory copied from target

SYSROOT=~/nvidia/nvidia_sdk/DRIVE_OS_5.2.0_SDK_Linux_OS_DDPX/DRIVEOS/drive-t186ref-linux/targetfs
catkin_make_isolated -DCMAKE_TOOLCHAIN_FILE=$HOME/Downloads/Toolchain-V5L.cmake -DCMAKE_EXE_LINKER_FLAGS="${CMAKE_EXE_LINKER_FLAGS} -L/usr/local/driveworks/targets/aarch64-Linux/lib -Wl,-rpath,/usr/local/driveworks/targets/aarch64-Linux/lib -L$SYSROOT/usr/local/cuda-10.2/targets/aarch64-linux/lib -Wl,-rpath,$SYSROOT/usr/local/cuda-10.2/targets/aarch64-linux/lib" --install

replace with the binary installation directory so can run any binary installed packaes on the target.

sed -i "s#$HOME/ros_catkin_ws/install_isolated#/opt/ros/melodic#g" install_isolated/_setup_util.py

copy built out binaries to your target system

scp -r install_isolated nvidia@<target>:~

run on the target system

follow http://wiki.ros.org/melodic/Installation/Ubuntu to install ROS necessary apt packages via below command

sudo apt install ros-melodic-ros-base ros-melodic-image-view

install some packages

sudo apt install libboost-all-dev libtinyxml-dev libtinyxml2-dev liblz4-dev libbz2-dev libapr1 libaprutil1 libconsole-bridge-dev libpoco-dev libgpgme-dev python-defusedxml python-rospkg python-catkin-pkg python-netifaces liblog4cxx-dev

remove old version library (the detailed reason discussed in the forum post)

rm /usr/lib/libxerces-c*.

set up ros environment

source ~/install_isolated/setup.bash

run pre-requisite ros nodes and program

roscore &

run camera sensor node advertising camera_start service

nv_sensors_producer

In anoter shell (also set up ros environment), enable live camera

rosservice call camera_start camera.gmsl "camera-name=SF3324,interface=csi-a,link=0,output-format=processed"

or replay recorded files

rosservice call camera_start camera.virtual "video=/usr/local/driveworks/data/samples/recordings/highway0/video_first.h264"

start X server

sudo -b X -ac -noreset -nolisten tcp

then verify on image receiving side by subscribing the topic

rosrun image_view image_view image:=/cameraData _autosize:=True