Required Info:
- Software Version
DRIVE OS 6.0.6 - Target OS
Linux - SDK Manager Version
1.9.2.10884 - Host Machine Version
native Ubuntu Linux 20.04 Host installed with DRIVE OS DOCKER Containers
Describe the bug
following with this topic https://developer.nvidia.com/blog/running-docker-containers-directly-on-nvidia-drive-agx-orin/#entry-content-comments.
and this topic [BUG] target-docker-container running driveworks sample_hello_world failed
in target-docker-container, /usr/local/driveworks/bin/sample_camera
failed with many errors.
To Reproduce
# start and into the container
./docker/run/orin_start.sh
./docker/run/orin_into.sh
the csv in /etc/nvidia-container-runtime/host-files-for-container.d/
is from here
the keypoint of orin_start.sh
is
docker run --runtime nvidia --gpus all -it -d --privileged --name gw_orin_20.04_nvidia -e DOCKER_USER=nvidia -e USER=nvidia -e DOCKER_USER_ID=1000 -e DOCKER_GRP=nvidia -e DOCKER_GRP_ID=1000 -e DOCKER_IMG=arm64v8/ros:foxy -e USE_GPU=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=compute,graphics,video,utility,display -e NVIDIA_REQUIRE_JETPACK=csv-mounts=all -e DISPLAY=:1 -v /home/nvidia/zhensheng/orin_ws/nv_driveworks_demo/target:/target -v /dev:/dev -v /home/nvidia/zhensheng/cuda-sample:/home/nvidia/zhensheng/cuda-sample -v /home/nvidia/.cache:/home/nvidia/.cache -v /dev/bus/usb:/dev/bus/usb -v /media:/media -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /etc/localtime:/etc/localtime:ro -v /usr/src:/usr/src -v /lib/mgaules:/lib/mgaules --ulimit nofile=32768:32768 --ulimit msgqueue=2097152:2097152 -v /etc/nvsciipc.cfg:/etc/nvsciipc.cfg --net host --ipc host --cap-add SYS_ADMIN --cap-add SYS_PTRACE -w /target --add-host in_orin_docker:127.0.0.1 --add-host tegra-ubuntu:127.0.0.1 --hostname in_orin_docker --shm-size 2G -v /dev/null:/dev/raw1394 arm64v8/ros:foxy /bin/bash
the rig.json
is edited and the camera with eligible module is connected.
Expected behavior
# in target-orin-host
/usr/local/driveworks/bin/sample_camera
ProgramArguments: Missing argument 'dwTracePath' requested
[21-05-2023 19:11:18] Platform: Detected Drive Orin P3710
[21-05-2023 19:11:18] TimeSource: monotonic epoch time offset is 1684599544108287
[21-05-2023 19:11:18] TimeSourceVibranteLinux: detect valid PTP interface mgbe2_0
[21-05-2023 19:11:18] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to mgbe2_0
[21-05-2023 19:11:18] PTP Time is available from Eth Driver
[21-05-2023 19:11:18] Adding variable DW_Base:DW_Version
[21-05-2023 19:11:18] Added variable DW_Base:DW_Version
[21-05-2023 19:11:18] Platform: number of GPU devices detected 1
[21-05-2023 19:11:18] Platform: currently selected GPU device 0, Resource Data Dir: trt_08_05_10_03, Arch: ga10b
[21-05-2023 19:11:18] Platform: currently selected GPU device integrated ID 0
[21-05-2023 19:11:18] CUDLAEngine:getDLACount: CUDLA version is = 1003000
[21-05-2023 19:11:18] CUDLAEngine:getDLACount: Number of DLA devices = 2
[21-05-2023 19:11:18] Context::mountResourceCandidateDataPath resource FAILED to mount from './resources': VirtualFileSystem: Failed to mount './resources/resources.pak'
[21-05-2023 19:11:18] Context::mountResourceCandidateDataPath resource FAILED to mount from '/home/nvidia/zhensheng/orin_ws/nv_driveworks_demo/target/data': VirtualFileSystem: Failed to mount '/home/nvidia/zhensheng/orin_ws/nv_driveworks_demo/target/data/resources.pak'
[21-05-2023 19:11:18] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-5.10/bin/../data
[21-05-2023 19:11:18] Context::mountResourceCandidateDataPath resource FAILED to mount from '/usr/local/driveworks-5.10/bin/../data': VirtualFileSystem: Failed to mount '/usr/local/driveworks-5.10/bin/../data/resources.pak'
[21-05-2023 19:11:18] Context::findDataRootInPathWalk data/DATA_ROOT found at: /usr/local/driveworks-5.10/data
[21-05-2023 19:11:18] Context::mountResourceCandidateDataPath resource FAILED to mount from '/usr/local/driveworks-5.10/data': VirtualFileSystem: Failed to mount '/usr/local/driveworks-5.10/data/resources.pak'
[21-05-2023 19:11:18] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks-5.10/bin/../lib/libdw_base.so.5.10
[21-05-2023 19:11:18] Context::findResourcesPackageInPathWalk: Could not find ./resources/resources.pak in upto 7 parent directories from /usr/local/driveworks-5.10/targets/aarch64-Linux/lib/libdw_base.so.5.10
[21-05-2023 19:11:18] SDK: No resources(.pak) mounted, some modules will not function properly
[21-05-2023 19:11:18] SDK: use EGL display as provided
[21-05-2023 19:11:18] TimeSource: monotonic epoch time offset is 1684599544108287
[21-05-2023 19:11:18] TimeSourceVibranteLinux: detect valid PTP interface mgbe2_0
[21-05-2023 19:11:18] TimeSource: Could not detect valid PTP time source at nvpps. Fallback to mgbe2_0
[21-05-2023 19:11:18] PTP Time is available from Eth Driver
[21-05-2023 19:11:18] Initialize DriveWorks SDK v5.10.87
[21-05-2023 19:11:18] Release build with GNU 9.3.0 from buildbrain-branch-0-g9a5b4670e12 against Drive PDK v6.0.6.0
[21-05-2023 19:11:18] SensorFactory::createSensor() -> time.nvpps, nvpps-device=/dev/nvpps0
[21-05-2023 19:11:18] Can not create time sensor: DW_HAL_CANNOT_OPEN_CHANNEL: EndpointNVPPS: cannot open NVPPS device with name: /dev/nvpps0
Error: Permission denied
[21-05-2023 19:11:18] fromFile: Loading rig file: /usr/local/driveworks-5.10/data/samples/sensors/camera/camera/rig.json
[21-05-2023 19:11:18] rig::DatabaseOverlayer: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
[21-05-2023 19:11:18] No valid data file found for camera:sample0 in parameter string: camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1 (using configuration folder /usr/local/driveworks-5.10/data/samples/sensors/camera/camera/)
[21-05-2023 19:11:18] rig::DatabaseOverlayer: Failed to open a file '/tmp/car_vin' - file likely does not exist - skipping overlay
onInitialize: creating camera.gmsl with params: camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:18] SensorFactory::createSensor() -> camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:18] CameraBase: pool size set to 8
[21-05-2023 19:11:18] SensorFactory::createSensor() -> camera.gmsl.master,
[21-05-2023 19:11:18] CameraMaster::parseDevBlock Getting device info list.
[21-05-2023 19:11:18] devBlock: 0 Slave = 0 Interface = csi-ab Camera_name = V1SIM623S4RU5195NB3 Link = 0 GroupInit = 0 RecCfg = 1
[21-05-2023 19:11:18] Camera Match Name: V1SIM623S4RU5195NB3 Description: Sony IMX623 RGGB module - 120-deg FOV, MIPI-IMX623, MAX96717F linkIndex: 4294967295 serInfo.Name: MAX96717F
[21-05-2023 19:11:18] Client, Setting up information for camera ID 0
[21-05-2023 19:11:18] Client, successfully found info for camera ID 0 bound to id 0
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] ImageStreamer(NvMedia -> CUDA)
[21-05-2023 19:11:18] CameraClient: using NITO found at /usr/share/camera/V1SIM623S4RU5195NB3.nito
[21-05-2023 19:11:18] SIPLMaster::SIPLMaster: Setting up master camera
[21-05-2023 19:11:18] Platform:
[21-05-2023 19:11:18] Platform Config:
[21-05-2023 19:11:18] Description:
[21-05-2023 19:11:18] Number of device blocks: 1
[21-05-2023 19:11:18] Device Block : 0
[21-05-2023 19:11:18] csiPort: 2
[21-05-2023 19:11:18] i2cDevice: 0
[21-05-2023 19:11:18] Deserializer Name: MAX96712_Fusa_nv
[21-05-2023 19:11:18] Deserializer Description: Maxim 96712 Aggregator Fusa_nv
[21-05-2023 19:11:18] Deserializer i2cAddress: 41
[21-05-2023 19:11:18] Simulator Mode: 0
[21-05-2023 19:11:18] Passive Mode: 0
[21-05-2023 19:11:18] Phy Mode: 1
[21-05-2023 19:11:18] Number of camera modules: 1
[21-05-2023 19:11:18] CameraModule index: 0
[21-05-2023 19:11:18] Name :V1SIM623S4RU5195NB3
[21-05-2023 19:11:18] Description: Sony IMX623 RGGB module - 120-deg FOV, MIPI-IMX623, MAX96717F
[21-05-2023 19:11:18] Serializer name: MAX96717F
[21-05-2023 19:11:18] Serializer description: Maxim 96717F Serializer
[21-05-2023 19:11:18] Serializer i2cAdress: 64
[21-05-2023 19:11:18] EEPROM name: M24C04
[21-05-2023 19:11:18] EEPROM i2cAddress: 84
[21-05-2023 19:11:18] EEPROM description: M24C04 EEPROM
[21-05-2023 19:11:18] Sensor ID: 0
[21-05-2023 19:11:18] Sensor name: IMX623
[21-05-2023 19:11:18] Sensor description: Sony IMX623 Sensor
[21-05-2023 19:11:18] Sensor i2cAddress: 26
[21-05-2023 19:11:18] Sensor isTPGEnabled: 0
[21-05-2023 19:11:18] Sensor isTriggerMode: 1
[21-05-2023 19:11:18] cfa: 33
[21-05-2023 19:11:18] embeddedTopLines: 1
[21-05-2023 19:11:18] embeddedBottomLines: 22
[21-05-2023 19:11:18] inputFormat: 20
[21-05-2023 19:11:18] height: 1536
[21-05-2023 19:11:18] width: 1920
[21-05-2023 19:11:18] fps: 30.000000
[21-05-2023 19:11:18] Embedded Data: 0
[21-05-2023 19:11:18] CameraMaster available outputs: 1
[21-05-2023 19:11:18] CameraClient: setting pipeline config for camera ID 0
[21-05-2023 19:11:18] CameraMaster: master initiation
MAX96712: Revision 5 detected
MAX96712 Link 0: PHY optimization was enabled
MAX96717F : Revision 4 detected!
Sensor IMX623 Rev 8 RGGB detected!
[21-05-2023 19:11:19] CameraMaster: Bootstrap NvSIPL and ClientPipelines complete
[21-05-2023 19:11:19] SAL: bootstrap complete
[21-05-2023 19:11:19] Initialize DriveWorks VisualizationSDK v5.10.87
[21-05-2023 19:11:19] Initialize DriveWorksGL SDK v5.10.87
onInitialize: Total cameras 1
onInitialize: getting image props 0
onInitialize: initilizing stream: 0
Main: Starting master.
[21-05-2023 19:11:19] CameraMaster: starting...
[21-05-2023 19:11:19] CameraClient: allocating image pool for ICP
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] Allocating NvSci group
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: allocate image pool for 0
[21-05-2023 19:11:19] Allocating NvSci ISP0 images
[21-05-2023 19:11:19] CameraClient: format not specified. Using h264 in Codec Header.
[21-05-2023 19:11:19] SIPLClient: Acquisition started
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:19] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] SIPLDeviceBlockNotificationHandler: Queue timeout
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
[21-05-2023 19:11:20] CameraClient: raw bit type is missing or unexpected in virtual channel info, meta info might be incomplete
Timing results:
Thread main:
-onProcess CPU: 6us, std= 4 | GPU: 4us, std= 1 | samples=34
-onRender CPU: 33061us, std=9126 | GPU: 33084us, std=9119 | samples=34
[21-05-2023 19:11:21] CameraClient: Notification received from pipeline index:0 of type: NOTIF_WARN_ICP_CAPTURE_TIMEOUT
[21-05-2023 19:11:21] Sensor Health Signal for camera[0] camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
timestamp: 1684696280493220 sourceID: 1040
Sensor notifications:
[21-05-2023 19:11:21] Sensor statistics for: camera[0] camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:21] Statistics for DW_SENSOR_STATE_DELTA_HOST_AND_HOST_TIME
Events: 69
Errors: 1
Drops: 0
minDelta: 33332.0000 us
maxDelta: 33334.0000 us
meanDelta: 33332.7266us
Standard deviation: 0.6166
[21-05-2023 19:11:21] Sensor statistics for: camera[0] camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:21] Statistics for DW_SENSOR_STATE_DELTA_SENSOR_AND_SENSOR_TIME
Events: 69
Errors: 1
Drops: 0
minDelta: 0.0000 us
maxDelta: 0.0000 us
meanDelta: 0.0000us
Standard deviation: 0.0000
[21-05-2023 19:11:21] Sensor statistics for: camera[0] camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:21] Statistics for DW_SENSOR_STATE_DELTA_HOST_AND_SENSOR_TIME
Events: 69
Errors: 1
Drops: 0
minDelta: -2.8138e+14 us
maxDelta: -2.8138e+14 us
meanDelta: -2.8138e+14us
Standard deviation: 0.0000
[21-05-2023 19:11:21] Sensor statistics for: camera[0] camera.gmsl, camera-name=V1SIM623S4RU5195NB3,interface=csi-ab,CPHY-mode=1,link=0,output-format=processed,async-record=1,file-buffer-size=16777216,skip-eeprom=1
[21-05-2023 19:11:21] Statistics for DW_SENSOR_STATE_DELTA_CURRENT_AND_HOST_TIME
Events: 69
Errors: 1
Drops: 0
minDelta: 0.0000 us
maxDelta: 0.0000 us
meanDelta: 0.0000us
Standard deviation: 0.0000
[21-05-2023 19:11:21] Buffers(Processed) should be released before calling DeInit() on sipl camera
[21-05-2023 19:11:21] Deinit master camera
[21-05-2023 19:11:21] SIPLDeviceBlockNotificationHandler: Queue timeout
[21-05-2023 19:11:21] SIPLClient: ImageQueue timeout
[21-05-2023 19:11:21] SIPLClient: ImageQueue shutdown
[21-05-2023 19:11:21] SIPLNotifier: Event notification queue shutdown
[21-05-2023 19:11:22] SIPLDeviceBlockNotificationHandler: Queue timeout
[21-05-2023 19:11:23] SIPLDeviceBlockNotificationHandler: Queue timeout
[21-05-2023 19:11:24] CameraClient: Stopping client
[21-05-2023 19:11:24] Releasing camera master
[21-05-2023 19:11:24] SIPLDeviceBlockNotificationHandler: Queue timeout
[21-05-2023 19:11:24] Driveworks VisualizationSDK released
[21-05-2023 19:11:24] Releasing Driveworks SDK Context
[21-05-2023 19:11:24] DriveworksGL SDK released
Actual behavior
without installing systemd
in the container
# in target-docker-container
/usr/local/driveworks/bin/sample_camera
ProgramArguments: Missing argument 'dwTracePath' requested
sh: 1: loginctl: not found
sh: 1: loginctl: not found
WindowGLFW: Failed create window
terminate called after throwing an instance of 'std::exception'
what(): std::exception
Aborted (core dumped)
after install systemd
in the container
nvidia@in_orin_docker:/target$ /usr/local/driveworks/bin/sample_camera
ProgramArguments: Missing argument 'dwTracePath' requested
System has not been booted with systemd as init system (PID 1). Can't operate.
Failed to create bus connection: Host is down
System has not been booted with systemd as init system (PID 1). Can't operate.
Failed to create bus connection: Host is down
WindowGLFW: Failed create window
terminate called after throwing an instance of 'std::exception'
what(): std::exception
Aborted (core dumped)
with docker run /lib/systemd/systemd
tring to solve the System has not been booted
issue. There still shows the error.
ProgramArguments: Missing argument 'dwTracePath' requested
WindowGLFW: Failed create window
terminate called after throwing an instance of 'std::exception'
what(): std::exception
Aborted (core dumped)
Additional context
- There is no
sudo
used. because it’s been solved by [BUG] target-docker-container running cuda-samples require unintended extra permission