Colcon not found Drivework libraries (Autoware)

asked 2019-11-26 12:32:43 -0600

Drechsler gravatar image

Hello,

I am installing Autoware 1.12.0 from source in a Drive PX 2 and I am having some issues regarding the gmsl cameras. During the first compiling I noticed that I had the standard error below and the cameras do not work in Autoware.

--- stderr: autoware_driveworks_gmsl_interface
gmsl_camera driver will not be built. CUDA was not found.
--- stderr: autoware_driveworks_interface
autoware_driveworks_interface won't be built, CUDA and aarch64 are required.

After that I flashed the Drive PX again with and older Driveworks (5.0.5) which has CUDA 9.0. I install ROS Kinetic according Nvidia indications and I tried to install Autoware again. However the issue persist.

Playing with the CMakeLists of the autoware_driveworks_gmsl_interface as below I found that the problem occur because it cannot find Driveworks libraries.

Changing the CMakeList to:

....
    find_package(CUDA)
    find_library(DRIVEWORKS_FOUND NAMES DriveWorks)
    find_library(NVMEDIA_FOUND NAMES nvmedia)

    message("Driveworks toolkit is ${DRIVEWORKS_TOOLKIT_TARGET_DIR}")

    if(CUDA_FOUND)
        message("CUDA was found.")
    endif()

    if(DRIVERWORKS_FOUND)
        message("DRIVEWORKS was found.")
    endif()

    if(NVMEDIA_FOUND)
        message("NVMEDIA was found.")
    endif()

    if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64"
            AND CUDA_FOUND
            AND DRIVEWORKS_FOUND
            AND NVMEDIA_FOUND

    ...

I got during the compilation:

--- stderr: autoware_driveworks_gmsl_interface                                                                                                                                                            
Driveworks toolkit is 
CUDA was found.
NVMEDIA was found.
gmsl_camera driver will not be built. CUDA was not found.

In this way I would like to know how can I define Driveworks library, or what can I do in a way that colcon could find it.

I am using Ubuntu 16.04

Thank you in advance.

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