Xavier libtorch support

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Xavier
1

Hi,

I’m trying to get some code compiled with libtorch on Xaiver. I built the libtorch using the guide [here]https://devtalk.nvidia.com/default/topic/1049071/jetson-nano/pytorch-for-jetson-nano/, and used

python setup.py develop

at the end of the process.

However, I’m not entirely sure if libtorch got built correctly as I couldn’t find the correct path to the cmake include directory. Does anyone have experience setting up libtorch on Jetson devices? Thanks!

I’m running Jetpack 4.3

2

could you extend which steps you are executing and what is the exact output?

3

Hi hengruiz, I found libtorch on my system here:

$ find ~ -name '*libtorch*'
./.local/lib/python3.6/site-packages/torch/lib/libtorch.so

This was after I installed the wheel for Python 3.6. The headers are in ~/.local/lib/python3.6/site-packages/torch/include. I believe setup.py develop does a similar structure, just using symbolic links to your local source tree.

4

Hi dusty,

Thanks for the reply! I installed pytorch again with the wheel and try to link using the ./.local/lib path, but I got the following error during the build process of my program:

/usr/bin/ld: cannot find -lCUDA_cublas_device_LIBRARY-NOTFOUND
collect2: error: ld returned 1 exit status

Have you encountered this issue before? Thanks!

5

Are you using cmake and find_package(CUDA)? It looks like an issue unrelated to PyTorch - that it can’t find cuBLAS location.

Are these lines below in your ~/.bashrc config? If not, can you try adding them to the end of your ~/.bashrc, and then restarting your terminal?

export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}$
export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

These paths should help CMake find your CUDA install.

6

Yes these lines are in my bashrc.
The problem was solved by upgrading cmake from 3.10 to 3.15, not sure why…
Thanks!