CUDA/NVIDIA missing in Yocto image with custom kernel (DRIVE AGX Orin)

[mate.moricz]

DRIVE OS Version: 6.0.10.0-36101120

Hardware: Nvidia Drive AGX Orin (p3710)

Yocto linux: 3.1 (dunfell)

Kernel version: 5.15.122-rt-tegra

Issue Description:
I am trying to build a DRIVE AGX Orin Yocto (dunfell) image using a non-prebuilt kernel.
I have set the following parameters in my distro configuration:

PREFERRED_PROVIDER_virtual/kernel = “linux-nvidia”
PREFERRED_PROVIDER_kernel = “linux-nvidia”

Additionally, I had to add a packagegroup-bsp.bbappend file in my custom layer to set the BSP_KERNEL value to kernel-modules.
However, when I use the non-prebuilt kernel, the Yocto build does not compile or include CUDA and NVIDIA-related components in the image.

When using the prebuilt kernel, these components are built and included correctly.

I have checked the kernel configuration, and it is the same for both builds. The only difference is the GCC version: the prebuilt kernel uses GCC 9.3, while the custom-built kernel uses GCC 9.5.

I cannot switch to GCC 9.3 because Dunfell only supports GCC 9.5.

Do you have any idea how I can fix the kernel build version to support NVIDIA-related components?

[SivaRamaKrishnaNV]

Dear @mate.moricz ,
Does Building the Yocto Project Components for NVIDIA DRIVE Orin | NVIDIA Docs helps? Do you see any issue with the steps in documentation?

[mate.moricz]

Dear @SivaRamaKrishnaNV,

I have read the documentation, but the Yocto kernel build only mentions the following under ( To build NVIDIA Yocto Project-based components | NVIDIA Docs )

Kernel Security Feature Configurations:

1. The default kernel recipe uses prebuilt components to account for signature matching of the base kernel and Tegra kernel modules. To rebuild the base kernel from the source, launch bitbake on the linux-nvidia recipe manually

I tried to follow the documentation by setting the following variables:

PREFERRED_PROVIDER_virtual/kernel = "linux-nvidia"
PREFERRED_PROVIDER_kernel = "linux-nvidia"

After doing this, I encountered the following error:

ERROR: Nothing RPROVIDES ‘linux-nvidia-prebuilt-tegra-modules’
(but meta-drive6/recipes-core/packagegroups/packagegroup-bsp.bb
RDEPENDS on or otherwise requires it)

I checked the referenced file and found that the following line is responsible for the issue:

# TODO: Remove the KPRIMARY filter when KNEXT goes to 6.x and becomes KSECONDARY
BSP_KERNEL = "${@bb.utils.contains('KERNEL_VER', '${KPRIMARY}',
'linux-nvidia-prebuilt-tegra-modules', 'kernel-modules', d)}"

To work around this, I created a .bbappend file to override the BSP_KERNEL variable and set it explicitly to kernel-modules.

With these changes, the Yocto build completes successfully using a custom-built kernel. However, when I run my application, I get the following runtime error:

App::main caught a std::exception as:
cuInit(0) failed. Check if CUDA is available.

When I use the prebuilt kernel, this error does not occur.

I have verified that the kernel configuration is identical between the prebuilt and custom-built kernels. The only difference I can see is the GCC version: the prebuilt kernel uses GCC 9.3, while the custom kernel is built with GCC 9.5.

[SivaRamaKrishnaNV]

Dear @mate.moricz ,
Does this topic still need support? Could you please provide complete command log and changes made in files to repro and check with engineering team ?

[mate.moricz]

I found a solution for this issue. The problem was in the kernel. By creating a linux-vidia.bbappend file and adding all the missing kernel files to the image as prebuilt files, this issue can be resolved.

modules_install_append() {
# install missing pre-built modules into appropriate locations for ${KPRIMARY}install -d ${D}/lib/modules/${KERNEL_VERSION}/extra
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/cpuidle
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/crypto
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/drm/tegra
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x-fence
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x-nvhost
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/cam_fsync
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/camera
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/isc
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/misc
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/misc/nvsciipc
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/net/can/mttcan
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/net/ethernet/microchip
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/pci/controller
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/dce
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/mc-utils
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/camera
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/dc
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/capture
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/isp
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvcsi
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvdla
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/pva
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/vi
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/nvmap
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/tsec
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/virt
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/virt/tegra
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/watchdog
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/nvgpu
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/opensrc-disp
install -d ${D}/lib/modules/${KERNEL_VERSION}/extra/sound/tegra-safety-audio
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/gpu/drm
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/cec/core
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/mc
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/net/can/dev
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/pci/controller/dwc
install -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/net/bridgeinstall -d ${D}/lib/modules/${KERNEL_VERSION}/kernel/net/can

cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/cpuidle/cpuidle-tegra-auto.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/cpuidle
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/crypto/tegra-hv-vse-safety.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/crypto
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/crypto/tegra-nvvse-cryptodev.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/crypto
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/gpu/drm/tegra/tegra-drm-next.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/drm/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/gpu/host1x-fence/host1x-fence.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x-fence
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/gpu/host1x-nvhost/host1x-nvhost.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x-nvhost
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/gpu/host1x/host1x-next.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/host1x
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/cam_fsync/cam_fsync.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/cam_fsync
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/camera/tegra-camera.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/camera
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/isc/isc_gpio.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/media/platform/tegra/isc
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/misc/nvsciipc/nvsciipc.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/misc/nvsciipc
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/misc/tegra-pcie-dma-test.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/misc
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/net/can/mttcan/mttcan.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/net/can/mttcan
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/net/ethernet/microchip/lan743x.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/net/ethernet/microchip
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/pci/controller/tegra-pcie-edma.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/pci/controller
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/dce/tegra-dce.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/dce
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/firmwares-class.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/mc-utils/mc-utils.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/mc-utils
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/camchar.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/camera-diagnostics.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/capture-ivc.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/clk-group.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/debug.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/device-group.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/hsp-mailbox-client.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/ivc-bus.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu/reset-group.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra/rtcpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/tegra-camera-rtcpu.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/tegra-fsicom.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/platform/tegra/tegra-uss-io-proxy.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/platform/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/camera/tegra_camera_platform.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/camera
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge/maxim_gmsl_dp_serializer.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge/maxim_gmsl_hdmi_serializer.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge/ti_fpdlink_dp_serializer.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/dc/bridge
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/capture/nvhost-capture.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/capture
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/isp/nvhost-isp5.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/isp
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvcsi/nvhost-nvcsi-t194.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvcsi
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvcsi/nvhost-nvcsi.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvcsi
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvdla/nvhost-nvdla.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/nvdla
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/pva/nvhost-pva.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/pva
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/host/vi/nvhost-vi5.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/host/vi
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/nvmap/nvmap.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/nvmap
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/tsec/tsecriscv.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/tsec
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/video/tegra/virt/tegra_gr_comm.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/video/tegra/virt
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/virt/tegra/hvc_sysfs.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/virt/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/virt/tegra/ivc-cdev.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/virt/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/virt/tegra/userspace_ivc_mempool.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/virt/tegra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/drivers/watchdog/watchdog-tegra-t18x.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/watchdog
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/nvgpu.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/drivers/gpu/nvgpu
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/nvhwpm.ko ${D}/lib/modules/${KERNEL_VERSION}/extra
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/opensrc-disp/nvidia-modeset.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/opensrc-disp
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/opensrc-disp/nvidia.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/opensrc-disp
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/extra/sound/tegra-safety-audio/safety-i2s.ko ${D}/lib/modules/${KERNEL_VERSION}/extra/sound/tegra-safety-audio
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/gpu/drm/drm.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/gpu/drm
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/gpu/drm/drm_kms_helper.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/gpu/drm
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/cec/core/cec.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/cec/core
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2/videobuf2-common.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2/videobuf2-dma-contig.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2/videobuf2-memops.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2/videobuf2-v4l2.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/common/videobuf2
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/mc/mc.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/mc
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core/v4l2-async.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core/v4l2-dv-timings.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core/v4l2-fwnode.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core/videodev.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/media/v4l2-core
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/net/can/dev/can-dev.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/net/can/dev
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/drivers/pci/controller/dwc/pcie-tegra194.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/drivers/pci/controller/dwc
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/net/bridge/bridge.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/net/bridge
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/net/can/can-raw.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/net/can
cp -r ${MODULES_SOURCE_DIR}/${KERNEL_VERSION}/kernel/net/can/can.ko ${D}/lib/modules/${KERNEL_VERSION}/kernel/net/can
}

However, CUDA is still not working. I get the following error when I try to access CUDA:

Exception thrown: Cuda error at cudaapi.cpp:302 (CudaApi):no CUDA-capable device is detected (VmRSS:	   66816 kB RssShmem:	   16388 kB )

[SivaRamaKrishnaNV]

I’m closing this topic due to there is no update from you for a period, assuming this issue was resolved.
If still need the support, please open a new topic. Thanks

@mate.moricz

:no CUDA-capable device is detected

Just want to confirm, if you run deviceQuery sample on docker. Is it working? Generally this error reported when host does not have GPU or docker is not able to access GPU from docker. Issue could be with nvidia drivers on host or flags you have used with docker run

[carolyuu]

Could you please provide any update for this topic?