Running the gmsl camera node on the PX2 - AD-EYE/AD-EYE_Core GitHub Wiki

Compiling the gmsl camera node

First, you need to be on the branch feature/gmsl_camera of AD-EYE_Core. There are several readme files on this 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

• Go to /AD-EYE_Core/PX2_crosscompiler/driveworks_camera_gmsl. Go to build folder and execute the following cmake command (Change /home/ubuntu and /usr/local/ to the path of the hard disk):

cmake .. -DVIBRANTE_PDK=/home/ubuntu/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=/usr/local/driveworks/targets/aarch64-Linux

• Execute build command : make -j6 camera_gmsl_publisher VERBOSE=1

Running the node with a launch file

• Copy the cameral gmsl binary in /AD-EYE_Core/AD-EYE/ROS_Packages/devel/lib/adeye(binary can be found in /build/src/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.