Bug report: libdriveworks.so.0.3.422 (arm64) depends heavily on X11 libraries

Autonomous Vehicles DRIVE PX 2 DriveWorks
1

DriveWorks version: 5.0.5.0a

While x86 one doesn’t.

readelf -d driveworks_nvdpx2_linux_arm64_gcc/lib/libdriveworks.so.0.3.422 driveworks_pc_linux_amd64_gcc/lib/libdriveworks.so.0.3.422

File: driveworks_nvdpx2_linux_arm64_gcc/lib/libdriveworks.so.0.3.422

Dynamic section at offset 0x20c7f58 contains 58 entries:
Tag Type Name/Value
0x0000000000000001 (NEEDED) Shared library: [libpthread.so.0]
0x0000000000000001 (NEEDED) Shared library: [libcudart.so.8.0]
0x0000000000000001 (NEEDED) Shared library: [libcuda.so.1]
0x0000000000000001 (NEEDED) Shared library: [libEGL.so.1]
0x0000000000000001 (NEEDED) Shared library: [libnvmedia.so]
0x0000000000000001 (NEEDED) Shared library: [libnvmedia_ipp.so]
0x0000000000000001 (NEEDED) Shared library: [libnvmedia_isc.so]
0x0000000000000001 (NEEDED) Shared library: [libnvmedia_acp.so]
0x0000000000000001 (NEEDED) Shared library: [libnvparser.so]
0x0000000000000001 (NEEDED) Shared library: [libcublas.so.8.0]
0x0000000000000001 (NEEDED) Shared library: [libstdc++.so.6]
0x0000000000000001 (NEEDED) Shared library: [libm.so.6]
0x0000000000000001 (NEEDED) Shared library: [libX11.so.6]
0x0000000000000001 (NEEDED) Shared library: [libXrandr.so.2]
0x0000000000000001 (NEEDED) Shared library: [libXinerama.so.1]
0x0000000000000001 (NEEDED) Shared library: [libXi.so.6]
0x0000000000000001 (NEEDED) Shared library: [libXcursor.so.1]
0x0000000000000001 (NEEDED) Shared library: [libGLESv2.so.2]
0x0000000000000001 (NEEDED) Shared library: [libudev.so.1]
0x0000000000000001 (NEEDED) Shared library: [libusb-1.0.so.0]
0x0000000000000001 (NEEDED) Shared library: [libnv_extimgdev.so]
0x0000000000000001 (NEEDED) Shared library: [libnv_embstatsplugin.so]
0x0000000000000001 (NEEDED) Shared library: [librt.so.1]
0x0000000000000001 (NEEDED) Shared library: [libdl.so.2]
0x0000000000000001 (NEEDED) Shared library: [libcudnn.so.6]
0x0000000000000001 (NEEDED) Shared library: [libnvinfer.so.3]
0x0000000000000001 (NEEDED) Shared library: [libnvcaffe_parser.so.3]
0x0000000000000001 (NEEDED) Shared library: [libgomp.so.1]
0x0000000000000001 (NEEDED) Shared library: [libgcc_s.so.1]
0x0000000000000001 (NEEDED) Shared library: [libc.so.6]
0x0000000000000001 (NEEDED) Shared library: [ld-linux-aarch64.so.1]
0x000000000000000e (SONAME) Library soname: [libdriveworks.so.0]
0x000000000000000f (RPATH) Library rpath: [/root/pdk/4.1.8.0/vibrante-t186ref-linux/lib-target:$ORIGIN/…/lib:$ORIGIN]
0x000000000000000c (INIT) 0xdec98
0x000000000000000d (FINI) 0xbed090
0x0000000000000019 (INIT_ARRAY) 0x2090010
0x000000000000001b (INIT_ARRAYSZ) 4032 (bytes)
0x000000000000001a (FINI_ARRAY) 0x2090fd0
0x000000000000001c (FINI_ARRAYSZ) 16 (bytes)
0x000000006ffffef5 (GNU_HASH) 0x1f0
0x0000000000000005 (STRTAB) 0x89b0
0x0000000000000006 (SYMTAB) 0xf40
0x000000000000000a (STRSZ) 30452 (bytes)
0x000000000000000b (SYMENT) 24 (bytes)
0x0000000000000003 (PLTGOT) 0x20df390
0x0000000000000002 (PLTRELSZ) 18936 (bytes)
0x0000000000000014 (PLTREL) RELA
0x0000000000000017 (JMPREL) 0xda2a0
0x000000006ffffef6 (TLSDESC_PLT) 0xe1dd0
0x000000006ffffef7 (TLSDESC_GOT) 0x20df388
0x0000000000000007 (RELA) 0x10cb8
0x0000000000000008 (RELASZ) 824808 (bytes)
0x0000000000000009 (RELAENT) 24 (bytes)
0x000000006ffffffe (VERNEED) 0x10ad8
0x000000006fffffff (VERNEEDNUM) 8
0x000000006ffffff0 (VERSYM) 0x100a4
0x000000006ffffff9 (RELACOUNT) 31939
0x0000000000000000 (NULL) 0x0

File: driveworks_pc_linux_amd64_gcc/lib/libdriveworks.so.0.3.422

Dynamic section at offset 0x18fca10 contains 42 entries:
Tag Type Name/Value
0x0000000000000001 (NEEDED) Shared library: [libpthread.so.0]
0x0000000000000001 (NEEDED) Shared library: [libcudart.so.8.0]
0x0000000000000001 (NEEDED) Shared library: [libdl.so.2]
0x0000000000000001 (NEEDED) Shared library: [librt.so.1]
0x0000000000000001 (NEEDED) Shared library: [libcuda.so.1]
0x0000000000000001 (NEEDED) Shared library: [libnvcuvid.so.1]
0x0000000000000001 (NEEDED) Shared library: [libcublas.so.8.0]
0x0000000000000001 (NEEDED) Shared library: [libusb-1.0.so.0]
0x0000000000000001 (NEEDED) Shared library: [libstdc++.so.6]
0x0000000000000001 (NEEDED) Shared library: [libm.so.6]
0x0000000000000001 (NEEDED) Shared library: [libGL.so.1]
0x0000000000000001 (NEEDED) Shared library: [libcudnn.so.6]
0x0000000000000001 (NEEDED) Shared library: [libnvinfer.so.3]
0x0000000000000001 (NEEDED) Shared library: [libgomp.so.1]
0x0000000000000001 (NEEDED) Shared library: [libgcc_s.so.1]
0x0000000000000001 (NEEDED) Shared library: [libc.so.6]
0x0000000000000001 (NEEDED) Shared library: [ld-linux-x86-64.so.2]
0x000000000000000e (SONAME) Library soname: [libdriveworks.so.0]
0x000000000000000f (RPATH) Library rpath: [$ORIGIN/…/lib:$ORIGIN]
0x000000000000000c (INIT) 0xc35a0
0x000000000000000d (FINI) 0xc1e330
0x0000000000000019 (INIT_ARRAY) 0x1aac410
0x000000000000001b (INIT_ARRAYSZ) 4120 (bytes)
0x000000000000001a (FINI_ARRAY) 0x1aad428
0x000000000000001c (FINI_ARRAYSZ) 16 (bytes)
0x000000006ffffef5 (GNU_HASH) 0x228
0x0000000000000005 (STRTAB) 0x7970
0x0000000000000006 (SYMTAB) 0xf50
0x000000000000000a (STRSZ) 26442 (bytes)
0x000000000000000b (SYMENT) 24 (bytes)
0x0000000000000003 (PLTGOT) 0x1afd000
0x0000000000000002 (PLTRELSZ) 14496 (bytes)
0x0000000000000014 (PLTREL) RELA
0x0000000000000017 (JMPREL) 0xbfd00
0x0000000000000007 (RELA) 0xebf8
0x0000000000000008 (RELASZ) 725256 (bytes)
0x0000000000000009 (RELAENT) 24 (bytes)
0x000000006ffffffe (VERNEED) 0xe998
0x000000006fffffff (VERNEEDNUM) 9
0x000000006ffffff0 (VERSYM) 0xe0ba
0x000000006ffffff9 (RELACOUNT) 27936
0x0000000000000000 (NULL) 0x0

Could you provide X11-free DriveWorks library for both platforms?

2

Dear sergei.nikiforov,

Could you file a bug for your topic?
Please login to https://developer.nvidia.com/drive with your credentials. Please check MyAccount->MyBugs->Submit a new bug to file bug.
Please share ID here to follow up. Thanks.

3

Hi sergei.nikiforov,

Could you try with the latest library from https://developer.nvidia.com/nvidia-drive-downloads .
Below is the result of the library from https://developer.nvidia.com/driveworks/files/driveinstall-5.0.5.0bL . FYI.

$ readelf -d /usr/local/driveworks-0.6/targets/aarch64-linux/lib/libdriveworks.so.0.6.67                                             [3/206]

Dynamic section at offset 0x1eeb150 contains 54 entries:
  Tag        Type                         Name/Value
 0x0000000000000001 (NEEDED)             Shared library: [libpthread.so.0]
 0x0000000000000001 (NEEDED)             Shared library: [libcudart.so.9.0]
 0x0000000000000001 (NEEDED)             Shared library: [libcuda.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libEGL.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libnvmedia.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnvmedia_ipp.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnvmedia_isc.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnvmedia_acp.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnvparser.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnvinfer.so.4]
 0x0000000000000001 (NEEDED)             Shared library: [libnvparsers.so.4.0.2]
 0x0000000000000001 (NEEDED)             Shared library: [libcudnn.so.7]
 0x0000000000000001 (NEEDED)             Shared library: [libcublas.so.9.0]
 0x0000000000000001 (NEEDED)             Shared library: [libdriveworks_localization.so]
 0x0000000000000001 (NEEDED)             Shared library: [libstdc++.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libm.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [libGLESv2.so.2]
 0x0000000000000001 (NEEDED)             Shared library: [libudev.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libusb-1.0.so.0]
 0x0000000000000001 (NEEDED)             Shared library: [libnv_extimgdev.so]
 0x0000000000000001 (NEEDED)             Shared library: [libnv_embstatsplugin.so]
 0x0000000000000001 (NEEDED)             Shared library: [librt.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libdl.so.2]
 0x0000000000000001 (NEEDED)             Shared library: [libgomp.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libgcc_s.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
 0x0000000000000001 (NEEDED)             Shared library: [ld-linux-aarch64.so.1]
 0x000000000000000e (SONAME)             Library soname: [libdriveworks.so.0]
 0x000000000000000f (RPATH)              Library rpath: [/root/pdk/5.0.5.0_L/drive-t186ref-linux/lib-target:/usr/local/cuda/targets/aarch64-linux/lib:/usr/local/nvidia/tensorrt/targets/aarch64-linux-gnu/lib:$ORIGI
N/../lib:$ORIGIN]
 0x000000000000000c (INIT)               0xcb2c0
 0x000000000000000d (FINI)               0xbca464
 0x0000000000000019 (INIT_ARRAY)         0x1ebb970
 0x000000000000001b (INIT_ARRAYSZ)       2008 (bytes)
 0x000000000000001a (FINI_ARRAY)         0x1ebc148
 0x000000000000001c (FINI_ARRAYSZ)       16 (bytes)
 0x000000006ffffef5 (GNU_HASH)           0x1f0
 0x0000000000000005 (STRTAB)             0xb7c8
 0x0000000000000006 (SYMTAB)             0x1b38
 0x000000000000000a (STRSZ)              41327 (bytes)
 0x000000000000000b (SYMENT)             24 (bytes)
 0x0000000000000003 (PLTGOT)             0x1f01b10
 0x0000000000000002 (PLTRELSZ)           19416 (bytes)
 0x0000000000000014 (PLTREL)             RELA
 0x0000000000000017 (JMPREL)             0xc66e8
 0x000000006ffffef6 (TLSDESC_PLT)        0xce520
 0x000000006ffffef7 (TLSDESC_GOT)        0x1f01b08
 0x0000000000000007 (RELA)               0x16858
 0x0000000000000008 (RELASZ)             720528 (bytes)
 0x0000000000000009 (RELAENT)            24 (bytes)
 0x000000006ffffffe (VERNEED)            0x16648
 0x000000006fffffff (VERNEEDNUM)         9
 0x000000006ffffff0 (VERSYM)             0x15938
 0x000000006ffffff9 (RELACOUNT)          27735
 0x0000000000000000 (NULL)               0x0