isaac sdk can used in xavier ?

Autonomous Machines Robotics - Isaac Isaac SDK
1

I don’t have a pc like the guide requrimented

But i have jetson AGV xavier and nano .

so I want build a kaya . the xavier work as a pc.

I have tried to install isaac sdk in xavier .

I can run bazel with the office example

cd ~/examples/cpp-tutorial/stage1

bazel run //main:hello-world

but i can’t run the isaac example

I run script as below:

/isaac$ bazel build //apps/samples/stereo_dummy
INFO: Build options have changed, discarding analysis cache.
WARNING: /home/ubuntu/isaac/packages/viewers/BUILD:14:12: in srcs attribute of cc_binary rule //packages/viewers:libviewers_module.so: please do not import '//packages_x86_64/viewers:libviewers_module.so' directly. You should either move the file to this package or depend on an appropriate rule there
INFO: Analysed target //apps/samples/stereo_dummy:stereo_dummy (10 packages loaded, 2846 targets configured).
INFO: Found 1 target...
ERROR: /home/ubuntu/.cache/bazel/_bazel_ubuntu/026f80ffd3407b04a89c5a0bc1659072/external/libuuid/BUILD.bazel:14:1: Couldn't build file external/libuuid/_objs/libuuid/unparse.o: undeclared inclusion(s) in rule '@libuuid//:libuuid':
this rule is missing dependency declarations for the following files included by 'external/libuuid/unparse.c':
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stddef.h'
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stdarg.h'
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stdint.h'

I run script as test :

./engine/build/deploy.sh -d jetpack42 -h 127.0.0.1 -p //apps/kaya:joystick-pkg

The result as :

================================================================================
Building //apps/kaya:joystick-pkg for target platform 'jetpack42'
================================================================================
INFO: Analysed target //apps/kaya:joystick-pkg (0 packages loaded, 0 targets configured).
INFO: Found 1 target...
ERROR: /home/ubuntu/.cache/bazel/_bazel_ubuntu/026f80ffd3407b04a89c5a0bc1659072/external/net_zlib_zlib/BUILD.bazel:14:1: Couldn't build file external/net_zlib_zlib/_objs/zlib/crc32.o: undeclared inclusion(s) in rule '@net_zlib_zlib//:zlib':
this rule is missing dependency declarations for the following files included by 'external/net_zlib_zlib/crc32.c':
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stddef.h'
  '/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed/limits.h'
  '/usr/lib/gcc/aarch64-linux-gnu/7/include-fixed/syslimits.h'
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stdarg.h'
ERROR: /home/ubuntu/.cache/bazel/_bazel_ubuntu/026f80ffd3407b04a89c5a0bc1659072/external/capnproto/BUILD.bazel:19:1: Couldn't build file external/capnproto/_objs/kj_lite/common.o: undeclared inclusion(s) in rule '@capnproto//:kj_lite':
this rule is missing dependency declarations for the following files included by 'external/capnproto/c++/src/kj/common.c++':
  '/usr/lib/gcc/aarch64-linux-gnu/7/include/stddef.h'
ERROR: /home/ubuntu/.cache/bazel/_bazel_ubuntu/026f80ffd3407b04a89c5a0bc1659072/external/capnproto/BUILD.bazel:51:1: Couldn't build file external/capnproto/_objs/kj_heavy/char.o: undeclared inclusion(s) in rule '@capnproto//:kj_heavy':
this rule is missing dependency declarations for the following files included by 'external/capnproto/c++/src/kj/parse/char.c++':

I change some file:

isaac/engine/build/toolchain/crosstool

add line as :

default_toolchain {
  cpu: "aarch64"
  toolchain_identifier: "local"
}

isaac/engine/build/BUILD

add line as :

config_setting(
    name = "platform_aarch64",
    define_values = {"target_platform": "jetpack42"},
    visibility = ["//visibility:public"],
)

I don’t understand how to fix , but i just try . but not work for now.

if don’t change those files .it can’t compiled with cpu as aarch64

2 
~/isaac$ bazel version
Build label: 0.19.2- (@non-git)
Build target: bazel-out/aarch64-opt/bin/src/main/java/com/google/devtools/build/lib/bazel/BazelServer_deploy.jar
Build time: Tue May 7 02:32:25 2019 (1557196345)
Build timestamp: 1557196345
Build timestamp as int: 1557196345
3

if i don’t change those file ,it will show error as below :

~/isaac$ bazel build //apps/samples/stereo_dummy
ERROR: No toolchain found for cpu 'aarch64'. Valid cpus from default_toolchain entries are: [
  k8,
  arm64-v8a,
]. Valid toolchains are: [
  stub_arm64-v8a: --cpu='arm64-v8a' --compiler='compiler',
  local: --cpu='k8' --compiler='compiler',
]
INFO: Elapsed time: 0.598s
INFO: 0 processes.
FAILED: Build did NOT complete successfully (1 packages loaded)
4

In my opinion, the desktop component is targeted in x86_64 architecture, however you can deploy the robot-component to Xavier from x86_64 computer

5

Compiling on Nano is currently not supported.