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installation_with_drivepx2.md

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Build and Install Procedure for Nvidia DrivePX2

Prerequisites

  • Login with user nvidia
  • Internet connectivity

Caution

  • Install a new DRM related file. Please backup your PX2.

Procedures

Launch terminal software and execute the following steps.

DRM Library Installation

PX2 has libDRM installed at the time of setup, but NVIDIA customized these libraries and an error occurs for Autoware.
So, you need to install common drm libraries.

backup

mkdir -p backup/usr/lib
sudo cp -a /usr/lib/libdrm* backup/usr/lib
sudo cp -a /usr/lib/libwayland-* backup/usr/lib

mkdir -p backup/etc/nvidia
sudo cp -a /etc/nvidia/nvidia_gl.conf backup/etc/nvidia
sudo cp -a /etc/nvidia/nvidia_egl.conf backup/etc/nvidia

installation

sudo apt-get install --reinstall -y libdrm2 libdrm-dev libwayland-client0 libwayland-cursor0 libwayland-egl1-mesa libwayland-server0 libwayland-dev
sudo ldconfig

*Please reboot after installation.

ROS Installation

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update

sudo apt-get install -y build-essential cmake python-pip
sudo apt-get install -y checkinstall
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
sudo apt-get install -y libavutil-ffmpeg54=7:2.8.11-0ubuntu0.16.04.1
sudo apt-get install -y libswresample-ffmpeg1=7:2.8.11-0ubuntu0.16.04.1
sudo apt-get install -y libavformat-ffmpeg56=7:2.8.11-0ubuntu0.16.04.1
sudo apt-get install -y libswscale-ffmpeg3=7:2.8.11-0ubuntu0.16.04.1
sudo apt-get install -y libssl1.0.0=1.0.2g-1ubuntu4.12
sudo apt-get install -y libssl-dev=1.0.2g-1ubuntu4.12
sudo apt-get install -y ros-kinetic-desktop-full
sudo apt-get install -y ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
sudo apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
sudo apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev
sudo apt-get install -y ros-kinetic-camera-info-manager-py ros-kinetic-camera-info-manager

SSD Installation

If you need to use a SSD detector, please refer SSD readme.

Autoware Installation

source /opt/ros/kinetic/setup.bash

sudo apt-get install -y openssh-server libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev git
sudo apt-get install -y libnlopt-dev freeglut3-dev qt5-default libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev libglew-dev gksu
sudo apt-get install -y libxmu-dev python-wxgtk3.0 python-wxgtk3.0-dev
sudo ln -s /usr/include/aarch64-linux-gnu/qt5 /usr/include/qt5

cd ~/
git clone https://github.com/CPFL/Autoware.git
cd Autoware

cd ros
./catkin_make_release -j1
(if you need more speed up compilation, you can choose -j2~6, however it may often cause internal erros by GCC.

Trouble shooting

  • If you got following DRM errors
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmCloseOnce'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmMap'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmUnmap'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmFreeDevice'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmGetDevices'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmGetDevice'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmOpenOnce'
    /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to `drmFreeDevices'
  • please run to following command
export LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/