This guide covers the specific procedures for installing the ACU SDK and verifying that the environment is correctly configured.
The ACU SDK includes the following important file tree.
./acu_sdk
│ base_image_for_acu-1.0.0.tar
│ version.txt
│ wrlinux-10.21.20.13-glibc-x86_64-jetson_xavier_nx_devkit_emmc-wrlinux-image-small-sdk.sh
│
├───proto
│ ├───ais
│ │ └───v1
│ │ AIPickingService.proto
│ │ AIVisionService.proto
│ ├───fcs
│ │ └───v1
│ │ force_control.proto
│ ├───mvs
│ │ └───v2
│ │ mvs_common_types.proto
│ │ mvs_control.proto
│ ├───ppls
│ │ └───v1
│ │ path_checking_service.proto
│ │ path_planning_service.proto
│ │ position_types.proto
│ └───rcs
│ └───v1
│ alarm_api.proto
│ event_api.proto
│ file_api.proto
│ io_api.proto
│ job_control.proto
│ mode_get.proto
│ monitor_api.proto
│ motion_api.proto
│ position_types.proto
│ system_info.proto
│ timestamp.proto
│ variable_api.proto
└───scripts
acu_build_img
acu_create_pkg
acu_operate
ynx_build_acu_app
ynx_build_pkg
ynx_build_skill
ynx_create_acu_app
ynx_create_applications
ynx_create_pkg
ynx_create_skill
These files should be copied to the development environment into a known location. For the purposes of this guide, the following directory will be used as an example where these files are saved:
/usr/acu_sdk
The SDK is provided as a shell script installer. This script includes the necessary compressed WindRiver toolchain and binaries. You should install it into a local directory that is easy to identify.
cd /usr/acu_sdk
./wrlinux-10.21.20.13-glibc-x86_64-jetson_xavier_nx_devkit_emmc-wrlinux-image-smallsdk.sh
Note: if the script fails to execute due to a
Permission deniederror. Run the following command to assign execution privileges:chmod +x wrlinux-10.21.20.13-glibc-x86_64-jetson_xavier_nx_devkit_emmc-wrlinux-image-smallsdk.sh
Specify the Installation Path:
When prompted, enter the target directory. It is recommended to use a path such as:
~/.local/acu_sdk/
Complete Installation:
Wait for the extraction process to finish. This will populate the directory with the toolchain, sysroots, and environment setup scripts.
To package applications into the correct container format for the ACU, you must load the base image into your local Docker engine.
Locate the Image:
Find the .tar file provided with the SDK (e.g., base_image_for_acu-1.0.0.tar).
Import to Docker:
sudo docker load -i /urs/acu_sdk/base_image_for_acu-1.0.0.tar
The SDK does not stay active globally. You must source the environment script in every new terminal session where you intend to build applications.
source ~/.local/acu_sdk/environment-setup-armv8a-wrs-linux
[wrlinuxsdk-...] $
Follow these steps to ensure the cross-compiler is functional and targeting the correct architecture.
Run the following command while the environment is active:
$CC --version
Expected Output:
You should see output for the aarch64-wrs-linux-gcc compiler. This confirms the toolchain is ready to build binaries for the ACU's ARMv8 architecture.
(wrlinuxsdk-x86_64-aarch64) $ $CC --version
aarch64-wrs-linux-gcc (GCC) 8.3.0
Copyright (C) 2018 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Verify that the SDK's internal version of CMake is being used:
which cmake
Expected Output:
The path returned should point to a location within your SDK installation directory, rather than /usr/bin/cmake.
Ensure the auxiliary ACU scripts are ready for project management.
chmod +x acu_build_img
chmod +x acu_create_pkg
$PATH or keep them in your dedicated project workspace.$PATH=$PATH:/usr/acu_sdk/scripts
If you want to always have access to the scripts without having to modify the $PATH each time you open a new terminal window. Perform the following actions.
$PATH variable:/etc/environment with a terminal editor.sudo nano /etc/environment
:/usr/acu_sdk/scripts. For example:PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/local/games:/usr/games:/usr/acu_sdk/scripts"
Save Changes:
Use Ctrl+O then press ENTER to save. Then Ctrl+X to exit.
Apply the Changes:
Changes will be applied upon next login or can be updated by running the following command.
source /etc/environment
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