nv_driveworks_demo

简介

driveworks开发demo

• 上位机docker编译环境
• 上位机docker运行调试环境
• 上位机docker交叉编译环境
• 目标机orin部署环境
• 目标机orin远程调试环境

获取代码

P.S. 若有权限问题

chmod +x -R ./docker/
chmod +x -R ./scripts/

docker环境

sdk-docker

docker load -i ./drive-sdk-docker-6.0.6.tar
docker pull nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86
# nvcr.io/drive/driveos-sdk/drive-agx-orin-linux-aarch64-sdk-build-x86   6.0.6.0-0004               2a61be9dd0a0   8 weeks ago    54.1GB
# 启动docker, 容器名称为gw_sdk_20.04_${USER}
./docker/dev/sdk_start.sh
# 进入container
./docker/dev/sdk_into.sh
# optional: 额外安装软件
./docker/scripts/sdk_postbuild.sh

orin-docker

运行时docker在x86平台构建

docker load -i ./arm64v8-ros-foxy-dev.tar
docker pull arm64v8/ros:foxy-dev
# 启动docker, 容器名称为gw_orin_20.04_${USER}
./docker/dev/orin_start.sh
# 进入container
./docker/dev/orin_into.sh
# optional: 额外安装软件
./docker/scripts/orin_postbuild.sh

target-docker

运行时docker在orin平台运行 https://developer.nvidia.com/blog/running-docker-containers-directly-on-nvidia-drive-agx-orin/

docker load -i ./arm64v8-ros-foxy-dev.tar
docker pull mirrors.xlab.gacrnd.com:8082/arm64v8/ros:foxy-dev
# 启动docker, 容器名称为gw_orin_20.04_${USER}
./docker/run/orin_start.sh
# 进入container
./docker/run/orin_into.sh
# optional: 额外安装软件
./docker/scripts/target_postbuild.sh

构建

本地编译

cmake的使用参考https://manpages.ubuntu.com/manpages/bionic/man1/cmake.1.html

cd gw_demo
./gw.sh cmake_x86
./gw.sh make_x86
./gw.sh install_x86
# clean
./gw.sh clean

交叉编译

• 构建目录设置到target目录，target 目录拷贝到目标机器

cd gw_demo
./gw.sh cmake_aarch64
./gw.sh make_aarch64
./gw.sh install_aarch64
# clean
./gw.sh clean

交叉编译ROS2包

• 构建目录设置到target目录，target 目录拷贝到目标机器

cd gw_demo
./gw_ros.sh build_rel
# clean
./gw_ros.sh clean

vscode编译配置

tasks

已经配置好./.vscode/tasks.json，和./scripts/.vscode/tasks.json可通过task实现快捷操作

使用方式为：Ctrl+Shift+P + Tasks: Run Task + 选择具体的task

cpp开发支持

安装cpp插件，编辑./.vscode/c_cpp_properties.json 设置driveworks和driveos的目录，即可跳转。

安装cmake-tools插件，即可获得完整cmake开发体验。

错误查看和跳转

为了实现查看错误跳转，创建一些软连接

# in host
ln -s $PWD ./gw_demo
sudo ln -s $PWD /gw_demo
# to use dwcgf-tools out of docker
sudo ln -s ~/orin_ws/nv_driveworks/driverorks-5.10/ /usr/local/driveworks-5.10
sudo ln -s /usr/local/driveworks-5.10 /usr/local/driveworks

运行

普通app

以module_demo库的测试app为例

cd /target/aarch64/install/
./bin/module_demo/module_demo_main

helloworld-cgf

以Helloworld为例

cd /target/aarch64/install/
sudo ./bin/common_cgf_app/runHelloworld.sh
# 删除日志
./orin.sh clean
# 查看日志
tail -n 50 -f ./LogFolder/common_cgf_app/Helloworld/helloworld_process0_0.log

sensor-cgf

以VirtualCameraDeployPipe为例

# prepare res
ln -s ~/myz/data/video ./aarch64/install/data/common_cgf_app/video
cd ./aarch64/install/
sudo ./bin/common_cgf_app/runVirtualCameraDeployPipe.sh

高级使用

以下为实验性，增强型功能，需要自行修改适配后使用

ros2

# source prebuilt ros2 env
source ./docker/scripts/target.bashrc
# source the current project ros2 env
source ./colcon/install/local_setup.bash

tmux

tmux是一款好用的工具，此处tmux脚本仅供运行时target-orin-docker使用。

# in host
cd /target
./tmux_into.sh
# close the tmux
tmux kill-session -t target_tmux_into

调试

debug编译

由于设置了set(CMAKE_DEBUG_POSTFIX _d), 所有debug lib都添加后缀_d

修改./gw.sh 相关命令，手动添加-DCMAKE_BUILD_TYPE=Debug

function cmake_aarch64() {
  info "Start cmake, please wait ..."
  info "cmake on $MACHINE_ARCH..."

  cd ${GW_ROOT_DIR}
  info "cmake -B ${GW_AARCH64_BUILD_DIR} ${CMAKE_BUILD_OPT} ${CMAKE_CROSS_OPT} -DCMAKE_BUILD_TYPE=Debug"
  cmake -B ${GW_AARCH64_BUILD_DIR} ${CMAKE_BUILD_OPT} ${CMAKE_CROSS_OPT} -DCMAKE_BUILD_TYPE=Debug

  if [ ${PIPESTATUS[0]} -ne 0 ]; then
    fail 'cmake failed!'
  fi
  info "please make_aarch64"
  cd -
  success 'cmake_aarch64 passed!'
}

开发时调试(x86)

todo:

远程调试(aarch64)

见 ./.vscode/launch.json

运行时调试(aarch64)

见./scripts/.vscode/launch.json

架构

构建架构

内部代号：gaworks, 开发代号gw, GW

运行架构

制品目录也提交入库

开发流程

已知问题

docker环境问题

• docker环境下terminal没有彩色输出(已解决 -e TERM=xterm-256color)
• docker环境下terminal apt安装不能tab (https://askubuntu.com/questions/735189/enabling-auto-completion-for-apt-get-install-in-docker-ubuntu-14-04)
• docker环境下不能启动界面? (已解决 -e DISPLAY)