Compiling and running the gmsl camera node on the PX2 - AD-EYE/AD-EYE_Core GitHub Wiki

Preparations for gmsl camera node compilation

First, you need to have the PX2_crosscompiler folder on the PX2. You can get it from the branch feature/gmsl_camera of AD-EYE_Core, or from the separate repository PX2_crosscompiler. There are several readme files on the feature/gmsl_camera branch that explain how to have a working setup to compile this node. Using docker will not be needed in this case.

  • Copy cuda 9.2, driveworks1.2 and nvidia folder into an external hard disk (needs around 33GB).

Files location : here

Compiling the gmsl camera node

  • Connect the external drive to the PX2's Tegra-A USB connector (the bottom one under the Ethernet port), and mount it with sudo mount /dev/sda1 /mnt/disk for example.

  • If you used the AD_EYE_Core repository's branch, go to /AD-EYE_Core/PX2_crosscompiler/driveworks_camera_gmsl.

  • With the PX2's current setup (as of 2025-03-03), you can just directly go to /home/adeye/PX2_crosscompiler/driveworks_camera_gmsl.

  • Go to the build folder (create it if it doesn't exist, but it should) and execute the following cmake command (Change /mnt/disk to the path of the hard disk):

cmake .. -DVIBRANTE_PDK=/mnt/disk/nvidia/nvidia_sdk/DRIVE_OS_5.0.10.3_SDK_with_DriveWorks_Linux_OS_PX2_AUTOCHAUFFEUR/DriveSDK/drive-t186ref-linux -DCMAKE_TOOLCHAIN_FILE=./../cmake/Toolchain-V5L.cmake -DCMAKE_BUILD_TYPE=Debug -DDRIVEWORKS_DIR=/mnt/disk/driveworks-1.2/targets/aarch64-Linux

  • If you experience an error saying CMAKE_C_COMPILER not set, after EnableLanguage, try adding -DCMAKE_CXX_COMPILER=/usr/bin/aarch64-linux-gnu-g++ -DCMAKE_C_COMPILER=/usr/bin/aarch64-linux-gnu-gcc right after cmake.

  • If CMake complains about the toolchain file, try changing its path to an absolute path instead of relative one, for example: -DCMAKE_TOOLCHAIN_FILE=/home/adeye/PX2_crosscompiler/driveworks_camera_gmsl/cmake/Toolchain-V5L.cmake.

  • If you see an error saying CMake was unable to find a build program corresponding to "Unix Makefiles"., add -DCMAKE_MAKE_PROGRAM=/usr/bin/make after cmake, and make sure that make and build-essentials are installed (they should be).

Execute build command : make -j6 camera_gmsl_publisher VERBOSE=1

Running the node

  • Copy the camera gmsl binary to /home/adeye/AD-EYE_Core/AD-EYE/ROS_Packages/devel/lib/adeye(binary can be found in build/src/camera_gmsl_publisher/, and should be named camera_gmsl_publisher).

  • Source the devel folder.

You can now execute this node with rosrun adeye camera_gmsl_publisher or put it in a launch file.

Since all build folders are included in the .gitignore file, you will have to repeat this operation if you checkout to another branch.

By using the separate PX2_crosscompiler folder, you don't need to recompile the camera node each time, only just copy the binary to /AD-EYE_Core/AD-EYE/ROS_Packages/devel/lib/adeye.

If you get an error message of NvMediaEglStreamWrapperInitializeEgl: Cannot find function NvEglApiGetAccess, then try adding export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu to the .bashrc file, and running it again.