REL.10.01.00.02. Compatible with: Processor SDK Linux for Edge AI 10.…

…01.00.02

.github/workflows/docker-build-pc.yml

@@ -4,8 +4,6 @@ on:
   workflow_dispatch:
 
 env:
-  # SDK_VER should match to the SDK_VER defined in docker/Makefile
-  SDK_VER: 10.1.0.1
   SDK_DIR: ${{ github.workspace }}
   GH_TOKEN: ${{ secrets.GHCR_PAT }}
 
@@ -30,10 +28,17 @@ jobs:
       - name: Initial setup for the SDK repository
         run: |
           SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
-          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh
           # verify
           ls -l $SDK_DIR/ros2/drivers
 
+      - name: Parse SDK_VER and set it as an env variable
+        run: |
+          OUTPUT=$(make info)
+          SDK_VER=$(echo "$OUTPUT" | grep 'SDK_VER:' | awk '{print $2}')
+          echo "Parsed SDK_VER: $SDK_VER"
+          echo "SDK_VER=$SDK_VER" >> $GITHUB_ENV
+
       - name: Set up Docker build script
         run: |
           mkdir -p $HOME/j7ros_home

.github/workflows/docker-build-stage1.yml

@@ -11,8 +11,6 @@ on:
         required: true
 
 env:
-  # SDK_VER should match to the SDK_VER defined in docker/Makefile
-  SDK_VER: 10.1.0.1
   SDK_DIR: ${{ github.workspace }}
   GH_TOKEN: ${{ secrets.env_PAT }}
 
@@ -42,6 +40,13 @@ jobs:
       - name: Verify the SDK repository
         run: ls -l $SDK_DIR
 
+      - name: Parse SDK_VER and set it as an env variable
+        run: |
+          OUTPUT=$(make info)
+          SDK_VER=$(echo "$OUTPUT" | grep 'SDK_VER:' | awk '{print $2}')
+          echo "Parsed SDK_VER: $SDK_VER"
+          echo "SDK_VER=$SDK_VER" >> $GITHUB_ENV
+
       - name: Set up Docker build script
         run: |
           mkdir -p $HOME/j7ros_home

.github/workflows/docker-build-stage2.yml

@@ -11,8 +11,6 @@ on:
         required: true
 
 env:
-  # SDK_VER should match to the SDK_VER defined in docker/Makefile
-  SDK_VER: 10.1.0.1
   SDK_DIR: ${{ github.workspace }}
   GH_TOKEN: ${{ secrets.env_PAT }}
 
@@ -42,10 +40,17 @@ jobs:
       - name: Initial setup for the SDK repository
         run: |
           SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh
-          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2
+          SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh
           # verify
           ls -l $SDK_DIR/ros2/drivers
 
+      - name: Parse SDK_VER and set it as an env variable
+        run: |
+          OUTPUT=$(make info)
+          SDK_VER=$(echo "$OUTPUT" | grep 'SDK_VER:' | awk '{print $2}')
+          echo "Parsed SDK_VER: $SDK_VER"
+          echo "SDK_VER=$SDK_VER" >> $GITHUB_ENV
+
       - name: Set up Docker build script
         run: |
           mkdir -p $HOME/j7ros_home

docker/Dockerfile.arm64.ti_libs

@@ -40,7 +40,6 @@ ARG EDGEAI_VER
 ARG BASE_URL_VA
 ARG BASE_URL_RT
 ARG SDK_VER_MAJOR
-ARG SDK_VER_STR
 
 #=========================================================================
 FROM --platform=linux/arm64 robotics-sdk:${SDK_VER}-${ROS_DISTRO}-base as base-0
@@ -64,7 +63,6 @@ ENV SOC=$SOC_NAME
 ARG BASE_URL_VA
 ARG BASE_URL_RT
 ARG SDK_VER_MAJOR
-ARG SDK_VER_STR
 
 # setup proxy settings
 RUN /root/setup_proxy.sh
@@ -95,27 +93,27 @@ RUN apt-get update && \
 
 # git-clone edgeai-gst-apps
 WORKDIR /opt
-RUN git clone --single-branch --branch 10.01.00.01 https://github.com/TexasInstruments/edgeai-gst-apps.git
+RUN git clone --single-branch --branch 10.01.00.02 https://github.com/TexasInstruments/edgeai-gst-apps.git
 
 # install apps-utils
-RUN /opt/edgeai-gst-apps/scripts/install_apps_utils.sh -b 10.01.00.01 && \
+RUN /opt/edgeai-gst-apps/scripts/install_apps_utils.sh -b 10.01.00.02 && \
     rm -rf /opt/edgeai-apps-utils
 
 # install dl-inferer
-RUN git clone --single-branch --branch 10.01.00.01 https://git.ti.com/cgit/edgeai/edgeai-dl-inferer && \
+RUN git clone --single-branch --branch 10.01.00.02 https://git.ti.com/cgit/edgeai/edgeai-dl-inferer && \
     /opt/edgeai-dl-inferer/scripts/build_dl_inferer.sh && \
     rm -rf /opt/edgeai-dl-inferer
 
 # install edgeai-tiovx-kernels
-RUN /opt/edgeai-gst-apps/scripts/install_tiovx_kernels.sh -b 10.01.00.01 && \
+RUN /opt/edgeai-gst-apps/scripts/install_tiovx_kernels.sh -b 10.01.00.02 && \
     rm -rf /opt/edgeai-tiovx-kernels
 
 # install edgeai-tiovx-modules
-RUN /opt/edgeai-gst-apps/scripts/install_tiovx_modules.sh -b 10.01.00.01 && \
+RUN /opt/edgeai-gst-apps/scripts/install_tiovx_modules.sh -b 10.01.00.02 && \
     rm -rf /opt/edgeai-tiovx-modules
 
 # install edgeai-gst-plugins
-RUN /opt/edgeai-gst-apps/scripts/install_gst_plugins.sh -b 10.01.00.01 && \
+RUN /opt/edgeai-gst-apps/scripts/install_gst_plugins.sh -b 10.01.00.02 && \
     rm -rf /opt/edgeai-gst-plugins
 
 # install python modules for DL RT
@@ -124,7 +122,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python3 -m pip install --no-cache-dir PyYAML
 
 # install ti-gpio-cpp
-RUN /opt/edgeai-gst-apps/scripts/install_ti_gpio_libs.sh -b 10.01.00.01
+RUN /opt/edgeai-gst-apps/scripts/install_ti_gpio_libs.sh -b 10.01.00.02
 
 # build perf_stats tool
 RUN cd /opt/edgeai-gst-apps/scripts/perf_stats && \

docker/Makefile

@@ -8,15 +8,14 @@ ROS_VER          ?= 2
 GPUS             ?= n
 
 # Robotics SDK version
-SDK_VER          ?= 10.1.0.1
-EDGEAI_VER       ?= 10.1.0.1
+SDK_VER          ?= 10.1.0.2
+EDGEAI_VER       ?= 10.1.0.2
 TIVA_LIB_VER     ?= 10.1.0
 RPMSG_LIB_VER    ?= 0.6.7
 
 # Used in install_vision_apps_lib.sh, install_osrt_libs.sh, install_tidl_libs.sh
-LIB_REL_TAG      ?= 10.01.00.01
+LIB_REL_TAG      ?= 10.01.00.02
 SDK_VER_MAJOR    ?= 10.1.0
-SDK_VER_STR      ?= 10000005
 
 # Set the operating variables based on the ROS version specified
 ROS_DISTRO        = humble
@@ -104,12 +103,14 @@ ip_show:
 	@echo "$(J7_IP_ADDR)"
 
 info:
-	$(info PLATFORM          = $(PLATFORM))
-	$(info WORK_DIR          = $(WORK_DIR))
-	$(info REPO_NAME         = $(REPO_NAME))
-	$(info WORK_PATH_HOST    = $(WORK_PATH_HOST))
-	$(info SDK_DIR           = $(SDK_DIR))
-	$(info DATA_DIR          = $(DATA_DIR))
+	$(info SDK_VER: $(SDK_VER))
+	$(info EDGEAI_VER: $(EDGEAI_VER))
+	$(info PLATFORM: $(PLATFORM))
+	$(info WORK_DIR: $(WORK_DIR))
+	$(info REPO_NAME: $(REPO_NAME))
+	$(info WORK_PATH_HOST: $(WORK_PATH_HOST))
+	$(info SDK_DIR: $(SDK_DIR))
+	$(info DATA_DIR: $(DATA_DIR))
 
 ## Docker
 # generate "docker build" script
@@ -148,7 +149,6 @@ ifeq ($(PLATFORM), j7)
 	@echo ": \"\$${BASE_URL_VA:=$(LIB_BASE_URL_VA)}\""        >> $(TGT_NAME)
 	@echo ": \"\$${BASE_URL_RT:=$(LIB_BASE_URL_RT)}\""        >> $(TGT_NAME)
 	@echo "SDK_VER_MAJOR=$(SDK_VER_MAJOR)"                    >> $(TGT_NAME)
-	@echo "SDK_VER_STR=$(SDK_VER_STR)"                        >> $(TGT_NAME)
 endif
 	@echo "bash \$$DOCKER_DIR/scripts/prepare_docker_build.sh \$$DST_DIR" >> $(TGT_NAME)
 	@echo "cd $(WORK_PATH_HOST)"                              >> $(TGT_NAME)
@@ -186,7 +186,6 @@ ifeq ($(PLATFORM), j7)
 	@echo "        --build-arg BASE_URL_VA=\$$BASE_URL_VA \\"     >> $(TGT_NAME)
 	@echo "        --build-arg BASE_URL_RT=\$$BASE_URL_RT \\"     >> $(TGT_NAME)
 	@echo "        --build-arg SDK_VER_MAJOR=\$$SDK_VER_MAJOR \\" >> $(TGT_NAME)
-	@echo "        --build-arg SDK_VER_STR=\$$SDK_VER_STR \\"     >> $(TGT_NAME)
 	@echo "        -f \$$DOCKER_DIR/Dockerfile.$(ARCH).ti_libs ./docker_src"  >> $(TGT_NAME)
 	@echo "     echo \"Docker build -t \$$DOCKER_TAG2 completed!\"" >> $(TGT_NAME)
 	@echo "fi"                                                >> $(TGT_NAME)

docker/install_osrt_libs.sh

@@ -42,18 +42,14 @@ else
     echo "BASE_URL_RT=$BASE_URL_RT"
 fi
 
-if [ -z "$SDK_VER_STR" ]; then
-    echo "Error: BASE_URL_RT is not defined."
-    exit 1
-else
-    echo "SDK_VER_STR=$SDK_VER_STR"
-fi
-
 # package names
-ONNX_RT_WHL=onnxruntime_tidl-1.14.0+${SDK_VER_STR}-cp310-cp310-linux_aarch64.whl
-ONNX_PKG=onnx-1.14.0+${SDK_VER_STR}-ubuntu22.04_aarch64
+ONNX_RT_WHL=onnxruntime_tidl-1.15.0-cp310-cp310-linux_aarch64.whl
+ONNX_PKG=onnx-1.15.0-ubuntu22.04_aarch64
+ONNX_LIB=libonnxruntime.so.1.15.0
 TFLITE_RT_WHL=tflite_runtime-2.12.0-cp310-cp310-linux_aarch64.whl
 TFLITE_PKG=tflite-2.12-ubuntu22.04_aarch64
+TFLITE_DIR=tflite_2.12
+TFLITE_LIB=libtensorflow-lite.a
 DLR_WHL=dlr-1.13.0-py3-none-any.whl
 
 # python dist-packages path
@@ -118,16 +114,16 @@ install_libs() {
     if [ ! -d /usr/include/tensorflow ]; then
         extract_pkg $TFLITE_PKG.tar.gz
         mv "$TFLITE_PKG/tensorflow" /usr/include
-        mv "$TFLITE_PKG/tflite_2.12" /usr/lib/
-        cp "$TFLITE_PKG/libtensorflow-lite.a" /usr/lib/
+        mv "$TFLITE_PKG/${TFLITE_DIR}" /usr/lib/
+        cp "$TFLITE_PKG/${TFLITE_LIB}" /usr/lib/
     else
         echo "skipping tensorflow setup: found /usr/include/tensorflow"
     fi
 
     if [ ! -d /usr/include/onnxruntime ]; then
         extract_pkg $ONNX_PKG.tar.gz
         cp -r $ONNX_PKG/libonnxruntime.so* /usr/lib/
-        ln -s "/usr/lib/libonnxruntime.so.1.14.0+${SDK_VER_STR}" /usr/lib/libonnxruntime.so
+        ln -s "/usr/lib/${ONNX_LIB}" /usr/lib/libonnxruntime.so
         mv "$ONNX_PKG/onnxruntime" /usr/include/
     else
         echo "skipping onnxruntime setup: found /usr/include/onnxruntime"

init_setup.sh

@@ -111,7 +111,7 @@ fi
 
 # Install TI mmWave radar driver node
 if [[ -f "$SDK_DIR/scripts/install_mmwave_rospkg.sh" ]]; then
-    bash $SDK_DIR/scripts/install_mmwave_rospkg.sh 2
+    bash $SDK_DIR/scripts/install_mmwave_rospkg.sh
 fi
 
 # Setup $WORK_DIR

scripts/install_gscam.sh

@@ -14,19 +14,6 @@ fi
 
 CURRENT_DIR=$(pwd)
 
-# install gscam (for ROS1) and apply a patch
-WORK_PATH=$SDK_DIR/ros1/drivers
-cd $WORK_PATH
-if [[ ! -d "gscam" ]]; then
-    git clone --single-branch --branch master https://github.com/ros-drivers/gscam.git
-    cd gscam
-    git checkout -b ti_nv12 tags/1.0.1
-    git apply $WORK_PATH/patches/gscam_ti_nv12.patch
-    git add .
-    git add config/* launch/*
-    git commit -m "Customized for TI Jacinto Robotics SDK: Added pipleline that uses TI GStreamer plugins, and added NV12 encoding mode."
-fi
-
 # install gscam2 (for ROS2) and apply a patch
 WORK_PATH=$SDK_DIR/ros2/drivers
 cd $WORK_PATH

scripts/install_mmwave_rospkg.sh

@@ -1,5 +1,4 @@
 #!/bin/bash
-ROS_VER=${1:-"2"}
 ROS_WS=$HOME/j7ros_home/ros_ws
 ARCH=$(arch)
 if [[ -z "$SDK_DIR" ]]; then
@@ -17,14 +16,7 @@ fi
 REPO_URL="https://git.ti.com/git/mmwave_radar/mmwave_ti_ros.git"
 COMMIT="3cfb96e29db1a5728a9c45f968ae2739d370f58f"
 BRANCH="master"
-if [ "$ROS_VER" == "1" ]; then
-    WORK_PATH=$SDK_DIR/ros1/drivers
-elif [ "$ROS_VER" == "2" ]; then
-    WORK_PATH=$SDK_DIR/ros2/drivers
-else
-    echo "ROS_VER=$ROS_VER not supported"
-    exit 1
-fi
+WORK_PATH=$SDK_DIR/ros2/drivers
 
 CURRENT_DIR=$(pwd)
 cd $WORK_PATH
@@ -42,8 +34,9 @@ if [[ ! -d "ti_mmwave_rospkg" ]]; then
         exit 1
     fi
     cd ..
-    cp -r mmwave_ti_ros/ros${ROS_VER}_driver/src/* .
+    cp -r mmwave_ti_ros/ros2_driver/src/* .
     rm -rf mmwave_ti_ros
     echo "[ti_mmwave_rospkg] Done"
 fi
+
 cd $CURRENT_DIR

tools/camera_info/C920_HD_camera_info.yaml

@@ -0,0 +1,31 @@
+%YAML:1.0
+---
+image_width: 1280
+image_height: 720
+camera_name: camera
+camera_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0.,
+       9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 1. ]
+distortion_model: plumb_bob
+distortion_coefficients: !!opencv-matrix
+   rows: 1
+   cols: 5
+   dt: d
+   data: [ 7.3934261699576093e-02, -4.1542678753901879e-01,
+       1.4128959036683215e-03, 9.4384360282255390e-04,
+       5.9913436641201279e-01 ]
+rectification_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+projection_matrix: !!opencv-matrix
+   rows: 3
+   cols: 4
+   dt: d
+   data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., 0.,
+       9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 0., 1.,
+       0. ]

tools/camera_info/README.txt

@@ -0,0 +1 @@
+* SN5867575.conf: ZED1 camera used in zed1_2020-11-09-18-01-08.bag