Cross Compiler sees libraries as incompatible (libdriveworks.so ..etc)

ajinkya.krishnakumar · February 26, 2020, 5:55pm

I followed the guide :https://developer.nvidia.com/drive/learn/tutorial-hostcompilation

After which I was able to compile my project on the host successfully and the binary worked as intended.
Now I want to cross compile to deploy the binary on to the target. On cross compiling it detects the libraries and their paths but, skips them and says they are incompatible.
I am using the guide https://developer.nvidia.com/drive/learn/tutorial-xcompilation.

I tried linking the libraries using the link_directories().
I even tried including the full path to the libraries in the set(LIBRARIES) on doing this I recived the Error : ~/libdriveworks.so Error adding symbols: File in wrong format

If compatibility is the issue how can i make external libraries of the type aarch64?

Here is my project tree

├── 3rdparty
│   ├── linux-aarch64
│   ├── linux-x86
│   └── src
├── build_host
│   ├── 3rdparty
│   ├── CMakeCache.txt
│   ├── CMakeFiles
│   ├── cmake_install.cmake
│   ├── install
│   ├── install_manifest.txt
│   ├── Makefile
│   └── src
├── build_target
│   ├── 3rdparty
│   ├── CMakeCache.txt
│   ├── CMakeFiles
│   ├── cmake_install.cmake
│   ├── Makefile
│   └── src
├── cmake
│   ├── ArchConfiguration.cmake
│   ├── CMakeParseArguments.cmake
│   ├── CommonConfiguration.cmake
│   ├── ExpandDependencyTree.cmake
│   ├── FindCUDA
│   ├── FindCUDA.cmake
│   ├── FindDriveworks.cmake
│   ├── FindDRM.cmake
│   ├── FindEGL.cmake
│   ├── FindGLES.cmake
│   ├── FindPackageHandleStandardArgs.cmake
│   ├── FindPackageMessage.cmake
│   ├── IncludeTargetDirectories.cmake
│   ├── LibFindMacros.cmake
│   ├── ResourcesConfiguration.cmake
│   ├── Samples3rdparty.cmake
│   ├── SamplesConfiguration.cmake
│   ├── SamplesInstallConfiguration.cmake
│   ├── SamplesSetBuildType.cmake
│   ├── Toolchain-V5L.cmake
│   ├── Toolchain-V5Q.cmake
│   └── UploadVibrante.cmake
├── CMakeLists.txt
└── src
    └── TV_C2

My CMakeLists.txt file in the main folder

cmake_minimum_required(VERSION 3.10 FATAL_ERROR)

#-------------------------------------------------------------------------------
# Set basic configurations
#-------------------------------------------------------------------------------
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
include(SamplesSetBuildType) # Set the build type before project is created

set(SDK_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(SDK_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})                      
#-------------------------------------------------------------------------------
# Root project
#-------------------------------------------------------------------------------
project(DriveworksSDK-Samples C CXX)

#-------------------------------------------------------------------------------
# System packages
#-------------------------------------------------------------------------------
find_package(CUDA REQUIRED)
find_package(EGL)

#-------------------------------------------------------------------------------
# Basic configuration
#-------------------------------------------------------------------------------
include(ArchConfiguration)
include(CommonConfiguration)
include(SamplesConfiguration)
include(ResourcesConfiguration)
include(Samples3rdparty)

include(SamplesInstallConfiguration)
include(ExpandDependencyTree)
include(IncludeTargetDirectories)
include(UploadVibrante)
set(SDK_BINARY_DIR ${CMAKE_BINARY_DIR})

#-------------------------------------------------------------------------------
# Driveworks SDK
#-------------------------------------------------------------------------------
find_package(Driveworks REQUIRED)
include_directories(${Driveworks_INCLUDE_DIR})

list(APPEND Driveworks_LIBRARIES
    ${CUDA_LIBRARIES}
    ${CUDA_cublas_LIBRARY}
    samples_allocator)

if(LINUX)
    list(APPEND Driveworks_LIBRARIES)
elseif(VIBRANTE)
    list(APPEND Driveworks_LIBRARIES ${vibrante_LIBRARIES} ${vibrante_Xlibs_LIBRARIES} nvmedia ${EGL_LIBRARIES})
endif()

#-------------------------------------------------------------------------------
# Samples
#-------------------------------------------------------------------------------
if(CMAKE_CROSSCOMPILING)
  set(DRIVEWORKS_DATAPATH "../data")
else()
  set(DRIVEWORKS_DATAPATH "${CMAKE_CURRENT_LIST_DIR}/../data")
endif()

file(GLOB ADDITIONAL_SAMPLES "CMakeListsSamples*.txt")
foreach(ADDITIONAL_SAMPLE ${ADDITIONAL_SAMPLES})
  include(${ADDITIONAL_SAMPLE})
endforeach()

set(PROJECTS TV_C2)

foreach(PROJECT ${PROJECTS})
  add_subdirectory(src/${PROJECT})
endforeach() 
#-------------------------------------------------------------------------------
# Cuda dependencies
#-------------------------------------------------------------------------------
# Create a target to update cuda dependencies
add_cuda_dependencies_target(update_cuda_deps ON)
set_property(TARGET update_cuda_deps PROPERTY FOLDER "Support")

My CMakelists.txt file in the project folder (src/TV_C2/)

# Copyright (c) 2016-2019 NVIDIA CORPORATION.  All rights reserved.

cmake_minimum_required(VERSION 3.10 FATAL_ERROR)

# Project name and languages
project(TV_C2 C CXX)

# Set Public documents

set(PUBLIC_DOCS
    README.md
)

# Set Libraries

set(LIBRARIES
	   driveworks
	   osqp
)

# Set Directories for including and linking

set(DIR
 /usr/local/driveworks/include/
 /usr/local/include/osqp/
)

link_directories(
	${CMAKE_CURRENT_SOURCE_DIR}
	/usr/local/driveworks/lib/
)

# Source Files
file(GLOB_RECURSE SOURCECXX *.cpp)
file(GLOB_RECURSE SOURCECC *.c)
file(GLOB_RECURSE HEADERS *.h)

# Add Executable 
add_executable(${PROJECT_NAME} ${SOURCECC} ${SOURCECXX} ${HEADERS})

# Add Directories

target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} PUBLIC ${DIR})

# Add Libraries

target_link_libraries(${PROJECT_NAME} PRIVATE ${LIBRARIES})

sdk_add_sample(${PROJECT_NAME})

My build_target command :

cmake -DCMAKE_BUILD=Release \
-DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-V5L.cmake \
-DVIBRANTE_PDK:STRING=/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux \
..

Logs from running the above :

CMake Warning at cmake/SamplesSetBuildType.cmake:19 (message):
  CMAKE_BUILD_TYPE not defined.  Using Release as default.
Call Stack (most recent call first):
  CMakeLists.txt:9 (include)

-- VIBRANTE_PDK = /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux
-- VIBRANTE_PDK_DEVICE = t186ref
-- VIBRANTE_PDK_BRANCH = 5.1.6.1
-- Vibrante version 5.1.6.1
-- VIBRANTE_PDK = /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux
-- Vibrante version 5.1.6.1
-- The C compiler identification is GNU 7.3.1
-- The CXX compiler identification is GNU 7.3.1
-- Check for working C compiler: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/../toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc
-- Check for working C compiler: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/../toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/../toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++
-- Check for working CXX compiler: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/../toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-g++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found CUDA: /usr/local/cuda (found version "10.2") 
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Found EGL: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libEGL.so  
-- Found /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libEGL.so:
--  - Includes: [/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/include]
--  - Libraries: [/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libEGL.so]
-- Found: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libdrm.so
-- Header at: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/include
-- DW_EXPERIMENTAL_FORCE_EGL set and EGL Support Enabled
-- Cross Compiling for Vibrante
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
CMake Warning at cmake/CommonConfiguration.cmake:79 (message):
  Couldn't determine the nvidia driver version: /proc/driver/nvidia/version
  was not found.  libnvcuvid and nivida-ml might be missing.
Call Stack (most recent call first):
  CMakeLists.txt:28 (include)

-- Default - Building with TRT version 5.1.4.2 and cudnn version 7.5.1.14
-- Building GLFW for X11 (static)
-- Looking for XOpenDisplay in /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libX11.so;/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libXext.so
-- Looking for XOpenDisplay in /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libX11.so;/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Found X11: /home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/drive-t186ref-linux/lib-target/libX11.so
-- VIBRANTE_PDK_BRANCH = 5.1.6.1
-- Found vibrante lib: /home/aj/Documents/TV_C2/3rdparty/linux-aarch64/vibrante/lib/libudev.so
-- Found vibrante lib: /home/aj/Documents/TV_C2/3rdparty/linux-aarch64/vibrante/lib/libusb-1.0.so
-- Found vibrante_Xlib: /home/aj/Documents/TV_C2/3rdparty/linux-aarch64/vibrante_Xlibs/lib/libXcursor.so
-- Driveworks Samples install dir: /home/aj/Documents/TV_C2/build_target/install
-- Cross Compiling for Vibrante
-- Driveworks found at: /usr/local/driveworks-2.2/targets/aarch64-Linux
-- Found Driveworks 
-- Configuring done
-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:

    CMAKE_BUILD

-- Build files have been written to: /home/aj/Documents/TV_C2/build_target

On running make -j && make install:

Scanning dependencies of target update_cuda_deps
Scanning dependencies of target lodepng-src
Scanning dependencies of target glfw-x11
Scanning dependencies of target TV_C2
[  0%] Built target update_cuda_deps
[  1%] Building CXX object 3rdparty/src/lodepng/CMakeFiles/lodepng-src.dir/src/lodepng.cpp.o
[  3%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/DiagonalizeMatrixC.c.o
[  4%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/DiagonalizeMatrix.c.o
[  6%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/context.c.o
[  8%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/x11_init.c.o
[  9%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/posix_tls.c.o
[ 11%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/init.c.o
[ 13%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/LinMatrix3d.c.o
[ 14%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/CalcSlipsFit.c.o
[ 16%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/VehicleModelDiscreteFit.c.o
[ 29%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/PredictionMatricesC.c.o
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[ 21%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/linux_joystick.c.o
[ 22%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/VehicleModelDiscreteFit_terminate.c.o
[ 32%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/PredictionMatrices.c.o
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[ 26%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPConstraint_noPow_emxAPI.c.o
[ 27%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/LinMatrix2d.c.o
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[ 68%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPConstraint_noPow_terminate.c.o
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[ 68%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPConstraint_noPow_emxutil.c.o
[ 68%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/input.c.o
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[ 77%] Building C object 3rdparty/src/glfw/CMakeFiles/glfw-x11.dir/3.2-screen/src/vulkan.c.o
[ 68%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/linA_fit.c.o
[ 68%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/eyeC.c.o
[ 77%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/linB_fit.c.o
[ 77%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/rt_nonfinite.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPCost_terminate.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPConstraint_noPow.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/VehicleModelDiscreteFit_initialize.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/QPConstraint_noPow_initialize.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/Ref_GEN.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/sum.c.o
[ 91%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/rtGetInf.c.o
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[ 95%] Building C object src/TV_C2/CMakeFiles/TV_C2.dir/xgetrf.c.o
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[ 95%] Building CXX object src/TV_C2/CMakeFiles/TV_C2.dir/main.cpp.o
[ 95%] Built target glfw-x11
Scanning dependencies of target glfw-src
[ 96%] Linking C static library libglfw-src.a
[ 96%] Built target glfw-src
[ 98%] Linking CXX executable TV_C2
/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/7.3.1/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /usr/local/driveworks/lib/libdriveworks.so when searching for -ldriveworks
/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/7.3.1/../../../../aarch64-linux-gnu/bin/ld: cannot find -ldriveworks
/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/7.3.1/../../../../aarch64-linux-gnu/bin/ld: skipping incompatible /home/aj/Documents/TV_C2/src/TV_C2/libosqp.so when searching for -losqp
/home/aj/nvidia/nvidia_sdk/DRIVE_Software_10.0_Linux_OS_E3550/DRIVEOS/toolchains/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/../lib/gcc/aarch64-linux-gnu/7.3.1/../../../../aarch64-linux-gnu/bin/ld: cannot find -losqp
collect2: error: ld returned 1 exit status
src/TV_C2/CMakeFiles/TV_C2.dir/build.make:1160: recipe for target 'src/TV_C2/TV_C2' failed
make[2]: *** [src/TV_C2/TV_C2] Error 1
CMakeFiles/Makefile2:323: recipe for target 'src/TV_C2/CMakeFiles/TV_C2.dir/all' failed
make[1]: *** [src/TV_C2/CMakeFiles/TV_C2.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[100%] Linking CXX static library liblodepng-src.a
[100%] Built target lodepng-src
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

Kindly advice…

VickNV · February 26, 2020, 7:04pm

Hi ajinkya.krishnakumar,
/usr/local/driveworks/lib/libdriveworks.so is for x86-64. You may need to clarify if something is wrong in the search paths. Thanks!

ajinkya.krishnakumar · February 27, 2020, 10:00am

Where can I find the library that is compatible with aarch64? What would be the correct search path for the driveworks library when cross compiling?

SivaRamaKrishnaNV · February 27, 2020, 10:52am

Dear Ajinkya,
You can find driveworks aarch64 libs at /usr/local/driveworks/targets/aarch64-Linux/lib/

ajinkya.krishnakumar · February 27, 2020, 12:28pm

Thankyou SivaRamaKrishna and VickNV. I have managed to cross compile successfully.

VickNV · February 27, 2020, 1:21pm

Good to hear your news!

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Cross Compiler sees libraries as incompatible (libdriveworks.so ..etc)

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