Setting Up the Yocto Environment Using Docker Containers

Note: The steps described below are applicable for NVONLINE Users and NVIDIA Developer Users working with the NGC Docker image.
Note: NVONLINE Users and NVIDIA Developer Users working with the SDK need to download the additional resources from NGC (https://registry.ngc.nvidia.com/orgs/${MY_NGC_ORG}/teams/driveos-sdk/resources/driveos_sdk/files) prior to following the "Install and Set Up the Toolkits" section.
Note: ${MY_NGC_ORG} is the NGC organization allocated for your team. NVIDIA Developer Users should replace ${MY_NGC_ORG} with "drive". NVONLINE Users should use their allocated team org.

Install Linux and Foundation Debian Packages

Linux and Foundation packages are pre-installed in the Docker image for NVONLINE Users and NVIDIA Developer Users.

Install and Set Up the Toolkits

Note: Follow these steps to install and set up the toolkits:
  1. Install CUDA Toolkit on the Host.
  2. Install CuDNN Packages if Including CuDNN from Yocto.
  3. Install TensorRT Packages if Including TensorRT from Yocto.
  4. Install NVIDIA DriveWorks if Including NVIDIA DriveWorks from Yocto.

Install CUDA Toolkit on the Host

Note: This step is mandatory if CUDA is enabled with Yocto. CUDA toolkit must be installed on the host before Yocto build initialization. Skip this section if CUDA toolkit is already installed.

Cuda host packages are pre-installed in Docker image. Copy the CUDA arm64 Debian package into a specific path : 

mkdir <top>/drive-linux/toolkits/cuda/drive-os-av/
cp cuda-tegra-repo-ubuntu*_arm64.deb <top>/drive-linux/toolkits/cuda/drive-os-av/

Install CuDNN Packages if Including CuDNN from Yocto

CuDNN host packages are pre-installed in Docker image. Copy the CuDNN deb file into a specific path :
mkdir <top>/drive-linux/toolkits/cudnn/
cp cudnn-local-tegra-repo-ubuntu2004-<CUDNN_MAJOR_VER>-<CUDNN_MINOR_VER>-local_1.0-1_arm64.deb <top>/drive-linux/toolkits/cudnn

Install TensorRT Packages if Including TensorRT from Yocto

TensorRT host packages are pre-installed in Docker image. Copy the TensorRT deb file into a specific path :
mkdir -p <top>/drive-linux/toolkits/tensorRT
cp nv-tensorrt-repo-ubuntu2004-cuda${CUDA_VER}trt${TRT_VER}-d6l-target-ga<BUILD_ID>-1_arm64.deb <top>/drive-linux/toolkits/tensorRT

Install NVIDIA DriveWorks if Including NVIDIA DriveWorks from Yocto

Before including NVIDIA DriveWorks in Yocto builds, users must follow the installation steps for CUDA, CuDNN, and TensorRT toolkits as described in the preceding sections.

DriveWorks host packages are pre-installed in Docker image

[OPTIONAL ] Only execute the following steps if enabling STM and CGF with Yocto:
mkdir <top>/drive-linux/toolkits/driveworks
cp driveworks-cgf_<dw-ver>~linux<release-ver>-<GCID>_arm64.deb <top>/drive-linux/toolkits/driveworks
cp driveworks-stm_<dw-ver>~linux<release-ver>-<GCID>_arm64.deb <top>/drive-linux/toolkits/driveworks