Docker issue

[892692498]

During the process of configuring the Docker environment, this step has been successfully executed.

cd /D2SLA/docker
make jetson_orin_base

However, during the execution of this step,

cd /D2SLA/docker
make jetson_orin

some problems arose

641.7 /usr/bin/ld: warning: libnvdla_compiler.so, needed by /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: warning: libnvdla_runtime.so, needed by /usr/local/cuda/lib64/libcudla.so.1, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncStrideSemaphore(NvDlaSemaphoreRec const*, unsigned int)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addSlice(nvdla::ITensor*, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::SliceLayerMode)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addReshape(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::submit(bool, bool, unsigned int, unsigned int, nvdla::ISync**)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemUnmap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSemaphore(NvDlaSemaphoreRec const*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleFree'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setCanCompressStructuredSparseWeights(bool)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroySync(nvdla::ISync*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createRuntime()'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSyncpoint(NvDlaFenceRec const*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createNetwork()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addResize(nvdla::ITensor*, nvdla::ResizeMode, nvdla::Weights)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::ISoftMaxLayer::setAxis(int)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemMap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::bindSubmitEvent(int, NvDlaSyncEventType, nvdla::ISync*, int*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyNetwork(nvdla::INetwork*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createWisdom()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IPoolingLayer::setPoolingPaddingInclusionType(nvdla::PoolingPaddingInclusionType)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroyRuntime(nvdla::IRuntime*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyWisdom(nvdla::IWisdom*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addTranspose(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleAllocAttr'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setUseSoftMaxOptz(bool)'
641.7 collect2: error: ld returned 1 exit status
641.7 make[2]: *** [CMakeFiles/d2frontend_net_tester.dir/build.make:266: /root/swarm_ws/devel/.private/d2frontend/lib/d2frontend/d2frontend_net_tester] Error 1
641.7 make[1]: *** [CMakeFiles/Makefile2:1426: CMakeFiles/d2frontend_net_tester.dir/all] Error 2
641.7 make[1]: *** Waiting for unfinished jobs....
641.7 /usr/bin/ld: warning: libnvdla_compiler.so, needed by /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: warning: libnvdla_runtime.so, needed by /usr/local/cuda/lib64/libcudla.so.1, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncStrideSemaphore(NvDlaSemaphoreRec const*, unsigned int)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addSlice(nvdla::ITensor*, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::SliceLayerMode)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addReshape(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::submit(bool, bool, unsigned int, unsigned int, nvdla::ISync**)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemUnmap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSemaphore(NvDlaSemaphoreRec const*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleFree'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setCanCompressStructuredSparseWeights(bool)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroySync(nvdla::ISync*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createRuntime()'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSyncpoint(NvDlaFenceRec const*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createNetwork()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addResize(nvdla::ITensor*, nvdla::ResizeMode, nvdla::Weights)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::ISoftMaxLayer::setAxis(int)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemMap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::bindSubmitEvent(int, NvDlaSyncEventType, nvdla::ISync*, int*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyNetwork(nvdla::INetwork*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createWisdom()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IPoolingLayer::setPoolingPaddingInclusionType(nvdla::PoolingPaddingInclusionType)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroyRuntime(nvdla::IRuntime*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyWisdom(nvdla::IWisdom*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addTranspose(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleAllocAttr'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setUseSoftMaxOptz(bool)'
641.7 collect2: error: ld returned 1 exit status
641.7 make[2]: *** [CMakeFiles/d2frontend_node.dir/build.make:266: /root/swarm_ws/devel/.private/d2frontend/lib/d2frontend/d2frontend_node] Error 1
641.7 make[1]: *** [CMakeFiles/Makefile2:1335: CMakeFiles/d2frontend_node.dir/all] Error 2
641.7 /usr/bin/ld: warning: libnvdla_compiler.so, needed by /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: warning: libnvdla_runtime.so, needed by /usr/local/cuda/lib64/libcudla.so.1, not found (try using -rpath or -rpath-link)
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncStrideSemaphore(NvDlaSemaphoreRec const*, unsigned int)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addSlice(nvdla::ITensor*, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::Weights, nvdla::SliceLayerMode)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addReshape(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::submit(bool, bool, unsigned int, unsigned int, nvdla::ISync**)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemUnmap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSemaphore(NvDlaSemaphoreRec const*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleFree'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setCanCompressStructuredSparseWeights(bool)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroySync(nvdla::ISync*)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createRuntime()'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::createSyncSyncpoint(NvDlaFenceRec const*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createNetwork()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addResize(nvdla::ITensor*, nvdla::ResizeMode, nvdla::Weights)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::ISoftMaxLayer::setAxis(int)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemMap'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::IRuntime::bindSubmitEvent(int, NvDlaSyncEventType, nvdla::ISync*, int*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyNetwork(nvdla::INetwork*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::createWisdom()'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IPoolingLayer::setPoolingPaddingInclusionType(nvdla::PoolingPaddingInclusionType)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `nvdla::destroyRuntime(nvdla::IRuntime*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::destroyWisdom(nvdla::IWisdom*)'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::INetwork::addTranspose(nvdla::ITensor*, nvdla::Dims4)'
641.7 /usr/bin/ld: /usr/local/cuda/lib64/libcudla.so.1: undefined reference to `NvRmMemHandleAllocAttr'
641.7 /usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/libnvinfer.so: undefined reference to `nvdla::IProfile::setUseSoftMaxOptz(bool)'
641.7 collect2: error: ld returned 1 exit status
641.7 make[2]: *** [CMakeFiles/d2frontend_spy.dir/build.make:260: /root/swarm_ws/devel/.private/d2frontend/lib/d2frontend/d2frontend_spy] Error 1
641.7 make[1]: *** [CMakeFiles/Makefile2:1398: CMakeFiles/d2frontend_spy.dir/all] Error 2
641.7 make: *** [Makefile:146: all] Error 2
641.7 cd /root/swarm_ws/build/d2frontend; catkin build --get-env d2frontend | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -
641.8 
641.8 ...............................................................................
641.8 Failed << d2frontend:make                       [ Exited with code 2 ]         
641.8 Failed <<< d2frontend                           [ 7 minutes and 23.2 seconds ] 
641.8 Abandoned <<< d2vins                               [ Unrelated job failed ]    
641.8 Abandoned <<< quadcam_depth_est                    [ Unrelated job failed ]    
641.8 [build] Summary: 13 of 16 packages succeeded.                                  
641.8 [build] Ignored: None.                                                         
641.8 [build] Warnings: 14 packages succeeded with warnings.                         
641.8 [build] Abandoned: 2 packages were abandoned.                                  
641.8 [build] Failed: 1 packages failed.                                             
641.8 [build] Runtime: 10 minutes and 40.4 seconds total.                            
641.8 [build] Note: Workspace packages have changed, please re-source setup files to use them.
------
Dockerfile.jetson:15
--------------------
  14 |     WORKDIR ${SWARM_WS}
  15 | >>> RUN   export PATH=/usr/local/cuda/bin:$PATH && \
  16 | >>>       export CUDA_HOME=/usr/local/cuda && \
  17 | >>>       export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH && \
  18 | >>>       . /opt/ros/${ROS_VERSION}/setup.sh && \
  19 | >>>       catkin config -DCMAKE_BUILD_TYPE=Release \
  20 | >>>             --cmake-args -DONNXRUNTIME_LIB_DIR=/usr/local/lib/ \
  21 | >>>             -DONNXRUNTIME_INC_DIR=/usr/local/include/onnxruntime/core/session/ \
  22 | >>>             -DTorch_DIR=/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch && \
  23 | >>>       catkin build 
  24 |     
--------------------
ERROR: failed to solve: process "/bin/sh -c export PATH=/usr/local/cuda/bin:$PATH &&       export CUDA_HOME=/usr/local/cuda &&       export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH &&       . /opt/ros/${ROS_VERSION}/setup.sh &&       catkin config -DCMAKE_BUILD_TYPE=Release             --cmake-args -DONNXRUNTIME_LIB_DIR=/usr/local/lib/             -DONNXRUNTIME_INC_DIR=/usr/local/include/onnxruntime/core/session/             -DTorch_DIR=/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch &&       catkin build" did not complete successfully: exit code: 1
make: *** [Makefile:17：jetson_orin] 错误 1

I have modified the daemon. json file to

{
    "default-runtime": "nvidia",
    "runtimes": {
        "nvidia": {
            "args": [],
            "path": "nvidia-container-runtime"
        }
    }
}

What should I do next?
Do I need to install ONNX Runtime and PyTorch in these paths：

-DONNXRUNTIME_INC_DIR=/usr/local/include/onnxruntime/core/session/ \
-DTorch_DIR=/usr/local/lib/python3.8/dist-packages/torch/share/cmake/Torch && \

[892692498]

After modifying the file daemon. json, the above error still occurs