Cross Compile Cuda (nvcc) on host for Orin Drive

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
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Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
1.9.3.10904
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Hello , trying to cross compile a c++ project with .cu files on host for Orin drive and it seems that nvcc does not generate aarch64 code. I tried a few compile options but no luck.
This was discussed in this thread

And on a semi related but separate issue, I can’t find FindCuda in the cmake folder of the Drive works . samples. Any suggestion would be greatly appreciated .

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Please consult the following documents for information on the sample and cross-compilation:

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