autoware.universe
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fix: update trt api
Description
closes #1436
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Codecov Report
Merging #1472 (0bc7e5b) into main (f8b090b) will decrease coverage by
0.02%
. The diff coverage is0.00%
.
@@ Coverage Diff @@
## main #1472 +/- ##
==========================================
- Coverage 10.73% 10.71% -0.03%
==========================================
Files 1115 1115
Lines 78831 78987 +156
Branches 18561 18561
==========================================
Hits 8464 8464
- Misses 61507 61663 +156
Partials 8860 8860
Flag | Coverage Δ | *Carryforward flag | |
---|---|---|---|
differential | 0.00% <0.00%> (?) |
||
total | 10.72% <0.00%> (ø) |
Carriedforward from f8b090b |
*This pull request uses carry forward flags. Click here to find out more.
Impacted Files | Coverage Δ | |
---|---|---|
...idar_apollo_instance_segmentation/src/detector.cpp | 0.00% <0.00%> (ø) |
|
...lidar_centerpoint/lib/network/tensorrt_wrapper.cpp | 0.00% <0.00%> (ø) |
|
perception/tensorrt_yolo/lib/src/trt_yolo.cpp | 0.00% <0.00%> (ø) |
|
...tion/traffic_light_classifier/utils/trt_common.cpp | 0.00% <0.00%> (ø) |
|
...tion/traffic_light_classifier/utils/trt_common.hpp | 0.00% <ø> (ø) |
|
...raffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp | 0.00% <0.00%> (ø) |
|
... and 1 more |
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is it supported to work on x86 and nvidia gpu not only Jetson AGX?
The packages have failed to be built in the autoware environment.
Starting >>> lidar_apollo_instance_segmentation
--- stderr: lidar_apollo_instance_segmentation
/home/yusuke/ghq/github.com/tier4/pilot-auto.xx1/src/autoware/universe/perception/lidar_apollo_instance_segmentation/src/detector.cpp: In constructor ‘LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node*)’:
/home/yusuke/ghq/github.com/tier4/pilot-auto.xx1/src/autoware/universe/perception/lidar_apollo_instance_segmentation/src/detector.cpp:63:13: error: ‘class nvinfer1::IBuilderConfig’ has no member named ‘setMemoryPoolLimit’
63 | config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, 1 << 30);
| ^~~~~~~~~~~~~~~~~~
/home/yusuke/ghq/github.com/tier4/pilot-auto.xx1/src/autoware/universe/perception/lidar_apollo_instance_segmentation/src/detector.cpp:63:42: error: ‘nvinfer1::MemoryPoolType’ has not been declared
63 | config->setMemoryPoolLimit(nvinfer1::MemoryPoolType::kWORKSPACE, 1 << 30);
| ^~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/lidar_apollo_instance_segmentation.dir/build.make:76: CMakeFiles/lidar_apollo_instance_segmentation.dir/src/detector.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:82: CMakeFiles/lidar_apollo_instance_segmentation.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed <<< lidar_apollo_instance_segmentation [10.0s, exited with code 2]
Summary: 10 packages finished [13.7s]
1 package failed: lidar_apollo_instance_segmentation
1 package had stderr output: lidar_apollo_instance_segmentation
❯ sudo dpkg -l | grep libnvinfer
hi libnvinfer-dev 8.2.4-1+cuda11.4 amd64 TensorRT development libraries and headers
hi libnvinfer-plugin-dev 8.2.4-1+cuda11.4 amd64 TensorRT plugin libraries
hi libnvinfer-plugin8 8.2.4-1+cuda11.4 amd64 TensorRT plugin libraries
hi libnvinfer8 8.2.4-1+cuda11.4 amd64 TensorRT runtime libraries
This PR requires https://github.com/autowarefoundation/autoware/pull/2766.
@wep21 I checked the lidar_centerpoint package runs successfully with https://github.com/autowarefoundation/autoware/pull/2766. But there are no outputs from the lidar_apollo_instance_segmentation package by the error [lidar_apollo_instance_segmentation_node-29] ERROR: 3: [executionContext.cpp::executeV2::521] Error Code 3: API Usage Error (Parameter check failed at: runtime/api/executionContext.cpp::executeV2::521, condition: !mEngine.hasImplicitBatchDimension()
. So traffic_light_classifier may also have the same error. Cloud you please check this error?
@yukke42 Could you try https://github.com/autowarefoundation/autoware.universe/pull/1436 first? It may be better to keep backward compatibility for multiple l4t version e.g. 32.6(tensorrt 8.2) and 34.1(tensorrt 8.4).
@NilaySener I added modifications to compile without adding -Wno-deprecated-declarations
except for lidar_apollo_instance_segmentation
. Could you try and review this PR?
@yukke42 I added more modifications to build with tensorrt 8.2. Could you try to run with a rosbag again?
I reverted changes for lidar_apollo_instance_segmentation
because explicit batch is not supported for caffe parser. https://github.com/NVIDIA/TensorRT/issues/470
@NilaySener I added modifications to compile without adding
-Wno-deprecated-declarations
except forlidar_apollo_instance_segmentation
. Could you try and review this PR?
@wep21 I tried to compile this PR and it didn't give a deprecation error on Jetson AGX-Orin.
@NilaySener Thank you for confirming it. Your PR is closed due to merging this PR, but thank you for your contribution.