Driveworks Not Found

Hi,
I am trying to build an application on drive PX2 it throws an error as below: even though all necessary driveworks are installed.

REQUIRED PACKAGE NOT FOUND

We could not find development headers for Driveworks. Do you have the
necessary dev package installed? This package is REQUIRED and you need to
install it or adjust CMake configuration in order to continue building
Project.

Relevant CMake configuration variables:

Driveworks_INCLUDE_DIR=<not found>
Driveworks_LIBRARY=<not found>

Dear @dhavan.patel,
FYI, You need to cross compile the application for DRIVE PX2 on your Host. Then you can copy the binary to board for execution.
You could include your application as a DW sample in DW samples directory and update the CMakefile accordingly.
The Host compilation(cross compilation) steps are provided in DW documentation(Check Samples -> Building samples section)
Let us know if you have any issues in compilation

Hi SivaRamaKrishnaNV,
Thank you for your suggestion. I tried steps in documentation but I am still getting below errors.

sudo cmake -DCMAKE_BUILD_TYPE=Release \

-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks-1.2/samples/cmake/Toolchain-V5L.cmake
-DVIBRANTE_PDK:STRING=/home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux
/usr/local/driveworks-1.2/samples/
– VIBRANTE_PDK = /home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux
– VIBRANTE_PDK_DEVICE = t186ref
– VIBRANTE_PDK_BRANCH = 5.0.10.3
– Vibrante version 5.0.10.3
– VIBRANTE_PDK = /home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux
– Vibrante version 5.0.10.3
– The C compiler identification is GNU 4.9.4
– The CXX compiler identification is GNU 4.9.4
– Check for working C compiler: /home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux/…/toolchains/tegra-4.9-nv/usr/bin/aarch64-gnu-linux/aarch64-gnu-linux-gcc
– Check for working C compiler: /home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux/…/toolchains/tegra-4.9-nv/usr/bin/aarch64-gnu-linux/aarch64-gnu-linux-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/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux/…/toolchains/tegra-4.9-nv/usr/bin/aarch64-gnu-linux/aarch64-gnu-linux-g++
– Check for working CXX compiler: /home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux/…/toolchains/tegra-4.9-nv/usr/bin/aarch64-gnu-linux/aarch64-gnu-linux-g++ – works
– Detecting CXX compiler ABI info
– Detecting CXX compiler ABI info - done
– Detecting CXX compile features
– Detecting CXX compile features - done
CMake Error at cmake/FindPackageHandleStandardArgs.cmake:138 (message):
Could NOT find CUDA (missing: CUDA_INCLUDE_DIRS CUDA_CUDART_LIBRARY) (found
version “10.1”)
Call Stack (most recent call first):
cmake/FindPackageHandleStandardArgs.cmake:374 (_FPHSA_FAILURE_MESSAGE)
cmake/FindCUDA.cmake:997 (find_package_handle_standard_args)
CMakeLists.txt:22 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/bchan/build/CMakeFiles/CMakeOutput.log”.

Dear @dhavan.patel,
From the log I could see you have CUDA 10.1 on your host instead of CUDA 9.2. Please update /usr/local/cuda to CUDA version installed by sdkmanager.

Hi SivaRamaKrishna,

I have followed step as per documentation. But I am still getting error:

bchan@WHQPC-LAV002:~/build$ sudo cmake -DCMAKE_BUILD_TYPE=Release \

-DCMAKE_TOOLCHAIN_FILE=/usr/local/driveworks-1.2/samples/cmake/Toolchain-V5L.cmake
-DVIBRANTE_PDK:STRING=/home/bchan/nvidia/nvidia_sdk/DRIVE/Linux/5.0.10.3/OS/DriveSDK/drive-t186ref-linux
/usr/local/driveworks-1.2/samples/
[sudo] password for bchan:
– Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
– Using X11 for window creation
– Driveworks Samples install dir: /home/bchan/build/install
– Found Driveworks
– Configuring done
– Generating done
– Build files have been written to: /home/bchan/build
bchan@WHQPC-LAV002:~/build$ make -j
[ 1%] Built target lodepng-src
[ 2%] Built target glew-src
[ 13%] Built target glfw
[ 15%] Built target update_cuda_deps
[ 25%] Built target dw_samples_framework
[ 26%] Built target sample_imu_logger
[ 28%] Built target sample_lidar_replay
[ 30%] Built target dw_samples_image_common
[ 32%] Built target sample_freespace_detection
[ 33%] Built target sample_gps_logger
[ 34%] Built target sample_renderer
[ 35%] Built target sample_lidar_accumulator
[ 36%] Built target sample_camera_scaling_tracker
[ 37%] Built target sample_radar_replay
[ 39%] Built target sample_camera_replay
[ 47%] Built target sample_canbus_logger
[ 41%] Built target sample_vehicleio
[ 43%] Built target sample_calibration_camera
[ 44%] Built target sample_drivenet
[ 48%] Built target sample_camera_usb
[ 46%] Built target sample_drivenetNcameras
[ 49%] Built target sample_camera_seek
[ 50%] Built target sample_egomotion
[ 52%] Built target sample_icp
[ 53%] Built target sample_object_detector
[ 55%] Built target sample_camera_tracker
[ 57%] Built target sample_canbus_interpreter
[ 58%] Built target sample_hello_world
[ 59%] Built target sample_sensors_info
[ 62%] Built target sample_rig_configuration
[ 60%] Built target sample_dataspeedBridge
[ 63%] Built target sample_blindness_detection
[ 66%] Built target sample_object_tracker
[ 65%] Built target sample_ipc_socketclientserver
[ 67%] Built target sample_occupancy_grid
[ 73%] Built target sample_calibration_lidar
[ 75%] Built target sample_record
[ 71%] Built target sample_maptracker
[ 72%] Built target sample_video_rectifier
[ 76%] Built target sample_calibration_imu
[ 78%] Built target sample_color_correction
[ 82%] Built target sample_laneplanner
[ 83%] Built target sample_sfm
[ 85%] Built target dw_samples_stereo_common
[ 86%] Built target sample_template
[ 90%] Built target sample_mapaccess
[ 92%] Built target sample_lane_detection
[ 93%] Built target sample_render_engine
[ 95%] Built target sample_image_capture
[ 95%] Built target sample_image_streamer_multi
[ 97%] Built target sample_image_streamer_simple
[ 99%] Built target sample_stereo_disparity
[100%] Built target sample_stereo_rectifier
bchan@WHQPC-LAV002:~/build$ make install
[ 2%] Built target update_cuda_deps
[ 3%] Built target lodepng-src
[ 14%] Built target glfw
[ 15%] Built target glew-src
[ 25%] Built target dw_samples_framework
[ 26%] Built target sample_egomotion
[ 27%] Built target sample_sensors_info
[ 28%] Built target sample_gps_logger
[ 29%] Built target sample_imu_logger
[ 31%] Built target sample_camera_replay
[ 32%] Built target sample_camera_seek
[ 34%] Built target sample_record
[ 35%] Built target sample_canbus_logger
[ 37%] Built target sample_canbus_interpreter
[ 39%] Built target sample_lidar_replay
[ 40%] Built target sample_radar_replay
[ 41%] Built target sample_camera_usb
[ 43%] Built target sample_camera_tracker
[ 44%] Built target sample_camera_scaling_tracker
[ 45%] Built target sample_occupancy_grid
[ 47%] Built target sample_rig_configuration
[ 48%] Built target sample_renderer
[ 49%] Built target sample_render_engine
[ 50%] Built target sample_sfm
[ 51%] Built target sample_object_detector
[ 53%] Built target sample_object_tracker
[ 55%] Built target sample_lane_detection
[ 57%] Built target sample_color_correction
[ 58%] Built target sample_video_rectifier
[ 59%] Built target sample_ipc_socketclientserver
[ 60%] Built target sample_hello_world
[ 62%] Built target dw_samples_image_common
[ 63%] Built target sample_image_streamer_multi
[ 65%] Built target sample_image_streamer_simple
[ 66%] Built target sample_image_capture
[ 68%] Built target dw_samples_stereo_common
[ 70%] Built target sample_stereo_disparity
[ 71%] Built target sample_stereo_rectifier
[ 73%] Built target sample_freespace_detection
[ 74%] Built target sample_drivenet
[ 76%] Built target sample_drivenetNcameras
[ 80%] Built target sample_laneplanner
[ 84%] Built target sample_mapaccess
[ 88%] Built target sample_maptracker
[ 89%] Built target sample_template
[ 91%] Built target sample_icp
[ 92%] Built target sample_lidar_accumulator
[ 93%] Built target sample_blindness_detection
[ 95%] Built target sample_calibration_camera
[ 96%] Built target sample_calibration_imu
[ 97%] Built target sample_calibration_lidar
[ 99%] Built target sample_vehicleio
[100%] Built target sample_dataspeedBridge
Install the project…
– Install configuration: “Release”
– Up-to-date: /home/bchan/build/install/bin/sample_egomotion
– Up-to-date: /home/bchan/build/install/bin/sample_sensors_info
– Up-to-date: /home/bchan/build/install/bin/sample_gps_logger
– Up-to-date: /home/bchan/build/install/bin/sample_imu_logger
– Up-to-date: /home/bchan/build/install/bin/sample_camera_replay
– Up-to-date: /home/bchan/build/install/bin/sample_camera_seek
– Up-to-date: /home/bchan/build/install/bin/sample_record
– Up-to-date: /home/bchan/build/install/bin/sample_canbus_logger
– Up-to-date: /home/bchan/build/install/bin/sample_canbus_interpreter
– Up-to-date: /home/bchan/build/install/bin/sample_lidar_replay
– Up-to-date: /home/bchan/build/install/bin/sample_radar_replay
– Up-to-date: /home/bchan/build/install/bin/sample_camera_usb
– Up-to-date: /home/bchan/build/install/bin/sample_camera_tracker
– Up-to-date: /home/bchan/build/install/bin/sample_camera_scaling_tracker
– Up-to-date: /home/bchan/build/install/bin/sample_occupancy_grid
– Up-to-date: /home/bchan/build/install/bin/sample_rig_configuration
– Up-to-date: /home/bchan/build/install/bin/sample_renderer
– Up-to-date: /home/bchan/build/install/bin/sample_render_engine
– Up-to-date: /home/bchan/build/install/bin/sample_sfm
– Up-to-date: /home/bchan/build/install/bin/sample_object_detector
– Up-to-date: /home/bchan/build/install/bin/sample_object_tracker
– Up-to-date: /home/bchan/build/install/bin/sample_lane_detection
– Up-to-date: /home/bchan/build/install/bin/sample_color_correction
– Up-to-date: /home/bchan/build/install/bin/sample_video_rectifier
– Up-to-date: /home/bchan/build/install/bin/sample_ipc_socketclientserver
– Up-to-date: /home/bchan/build/install/bin/sample_hello_world
– Up-to-date: /home/bchan/build/install/bin/sample_image_streamer_multi
– Up-to-date: /home/bchan/build/install/bin/sample_image_streamer_simple
– Up-to-date: /home/bchan/build/install/bin/sample_image_capture
– Up-to-date: /home/bchan/build/install/bin/sample_stereo_disparity
– Up-to-date: /home/bchan/build/install/bin/sample_stereo_rectifier
– Up-to-date: /home/bchan/build/install/bin/sample_freespace_detection
– Up-to-date: /home/bchan/build/install/bin/sample_drivenet
– Up-to-date: /home/bchan/build/install/bin/sample_drivenetNcameras
– Up-to-date: /home/bchan/build/install/bin/sample_laneplanner
– Up-to-date: /home/bchan/build/install/bin/sample_mapaccess
– Up-to-date: /home/bchan/build/install/bin/sample_maptracker
– Up-to-date: /home/bchan/build/install/bin/sample_icp
– Up-to-date: /home/bchan/build/install/bin/sample_lidar_accumulator
– Up-to-date: /home/bchan/build/install/bin/sample_blindness_detection
– Up-to-date: /home/bchan/build/install/bin/sample_calibration_camera
– Up-to-date: /home/bchan/build/install/bin/sample_calibration_imu
– Up-to-date: /home/bchan/build/install/bin/sample_calibration_lidar
– Up-to-date: /home/bchan/build/install/bin/sample_vehicleio
– Up-to-date: /home/bchan/build/install/bin/sample_dataspeedBridge

Error:

Running command: “make cmake_check_build_system” in “/home/bchan/dhavan_ws/build”

– Using CATKIN_DEVEL_PREFIX: /home/bchan/dhavan_ws/devel
– Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
– This workspace overlays: /opt/ros/kinetic
– Found PythonInterp: /usr/bin/python2 (found suitable version “2.7.12”, minimum required is “2”)
– Using PYTHON_EXECUTABLE: /usr/bin/python2
– Using Debian Python package layout
– Using empy: /usr/bin/empy
– Using CATKIN_ENABLE_TESTING: ON
– Call enable_testing()
– Using CATKIN_TEST_RESULTS_DIR: /home/bchan/dhavan_ws/build/test_results
– Found gtest sources under ‘/usr/src/gmock’: gtests will be built
– Found gmock sources under ‘/usr/src/gmock’: gmock will be built
– Found PythonInterp: /usr/bin/python2 (found version “2.7.12”)
– Using Python nosetests: /usr/bin/nosetests-2.7
– catkin 0.7.20
– BUILD_SHARED_LIBS is on
– BUILD_SHARED_LIBS is on
– ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
– ~~ traversing 3 packages in topological order:
– ~~ - custom_message
– ~~ - dw_sensors
– ~~ - pcl_data
– ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
– +++ processing catkin package: ‘custom_message’
– ==> add_subdirectory(custom_message)
– Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
– custom_message: 4 messages, 4 services
– +++ processing catkin package: ‘dw_sensors’
– ==> add_subdirectory(dw_sensors)
– Cross Compiling for Vibrante
– Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
– Using X11 for window creation
– VIBRANTE_PDK_BRANCH = 5.0.10.3
– Cross Compiling for Vibrante
CMake Error at dw_sensors/cmake/LibFindMacros.cmake:261 (message):
REQUIRED PACKAGE NOT FOUND

We could not find development headers for Driveworks. Do you have the
necessary dev package installed? This package is REQUIRED and you need to
install it or adjust CMake configuration in order to continue building
Project.

Relevant CMake configuration variables:

Driveworks_INCLUDE_DIR=<not found>
Driveworks_LIBRARY=<not found>

You may use CMake GUI, cmake -D or ccmake to modify the values. Delete
CMakeCache.txt to discard all values and force full re-detection if
necessary.

Call Stack (most recent call first):
dw_sensors/cmake/FindDriveworks.cmake:70 (libfind_process)
dw_sensors/CMakeLists.txt:71 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/bchan/dhavan_ws/build/CMakeFiles/CMakeOutput.log”.
See also “/home/bchan/dhavan_ws/build/CMakeFiles/CMakeError.log”.
Makefile:1704: recipe for target ‘cmake_check_build_system’ failed
make: *** [cmake_check_build_system] Error 1

FYI

Dear @dhavan.patel,
I could see make -j is successful. Can you copy and run any executable on board and check if it is built correctly.

Hi SivaRamaKrishna,

I check it ran perfectly. But for FYI I am using ROS as middleware so, When I tried to “catkin_make” my workspace having all executable above error shows.

Dear @dhavan.patel,
Does that mean when you copy a cross compiled executable(which has ROS middileware code) to board, it is working?
Could you confirm if you checked the ROS cross compilation steps at DRIVE PX2 ROS CROSS COMPILATION ?

Are you trying to compile ROS +DW ?