Autoware: How to run ndt_gpu on the platform of Xavier NX [closed]

asked 2021-08-02 19:34:56 -0500

bill4u
13 ●1 ●2 ●5

updated 2021-08-02 19:35:27 -0500

The newest version of master branch code which needs the cuda version is <=10.0. But Xavier NX's cuda version is 10.2. And I have tested the ndt_gpu on my PC(rtx 1050ti, ubuntu 18.04, eigen 3.3.9), both cuda 10.0 and cuda 10.2 work well. But in Xavier NX, the program works strangely. The GPU is 100% and stuck somewhere. So, does someone run the ndt_gpu successfully on the Xavier NX? How to change the original code ? THANKS A LOT.

Closed for the following reason the question is answered, right answer was accepted by bill4u
close date 2021-08-11 03:32:12.637156

answered 2021-08-05 04:59:17 -0500

Cenbylin
16 ●1 ●1

similar problem. All tests in PC (docker&host-ubuntu 18.04, nvidia-driver 470) work well. But in laptop (host-ubuntu 20.04,docker-ubuntu18, same gpu driver), for example, ndt_mapping did not publish message to /tf or /ndt_map, it just stucked.

One strange thing, very small chance (~1%), it can work normally for only 10+ frames of /points_raw, then stuck without any output. This really confuse me.

Is this problem caused by cuda version? my pc and laptop have cuda 11 in the host machine, but I use official Docker image for autoware (cuda-10 inside).

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well, I compile the proj by source code and all work well in PC and laptop witch cuda (10.0, 10.1, 10.2, 11.1).But stuck in the Xavier NX platform. I find it stuck in the gpu function of buildOctree(). Still dig into..

bill4u ( 2021-08-08 21:17:46 -0500 )edit

I have found the error lies in the buildParent()--->__syncthreads(). remove it from the for{} loop and put it outside the for loop will solve the problem!

bill4u ( 2021-08-11 03:31:50 -0500 )edit

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Autoware: How to run ndt_gpu on the platform of Xavier NX [closed]

Closed for the following reason the question is answered, right answer was accepted by bill4u
close date 2021-08-11 03:32:12.637156

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Autoware: How to run ndt_gpu on the platform of Xavier NX [closed] edit

Closed for the following reason the question is answered, right answer was accepted by bill4u close date 2021-08-11 03:32:12.637156

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Autoware: How to run ndt_gpu on the platform of Xavier NX [closed]

Closed for the following reason the question is answered, right answer was accepted by bill4u
close date 2021-08-11 03:32:12.637156