Update Jetson Orin AGX, Orin NX and Orin Nano examples to L4T 36.3 - …

…Jetpack 6 Change-type: patch Signed-off-by: Alexandru Costache <[email protected]>
balena-io-examples · Jul 8, 2024 · ca1c5cb · ca1c5cb
1 parent 961742a
commit ca1c5cb
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diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 Sample Application that uses X11 on the Jetson Platform
 
-These samples are based on L4T 32.7.1/32.7.2/35.1/35.2.1/35.3.1/35.4.1/35.5.0 and they showcase installing X11 and Gstreamer packages in a privileged container.
+These samples are based on L4T 32.7.1/32.7.2/35.1/35.2.1/35.3.1/35.4.1/35.5.0/36.3 and they showcase installing X11 and Gstreamer packages in a privileged container.
 
 Supported modules:
 

diff --git a/jetson-agx-orin-devkit/Dockerfile b/jetson-agx-orin-devkit/Dockerfile
@@ -1,49 +1,58 @@
-# Cuda Examples can't be compiled with newer glibc, see
-# https://forums.developer.nvidia.com/t/cuda-11-5-samples-throw-multiple-error-attribute-malloc-does-not-take-arguments/192750
-
 # AGX Orin, Orin NX and Orin Nano use the same T234 platform, therefore base images can be used
 # interchangeably as long as nvidia.list contains the right apt repositoy
-FROM balenalib/jetson-agx-orin-devkit-ubuntu:focal
+FROM balenalib/jetson-agx-orin-devkit-ubuntu:jammy-20240401
 
 # Prevent apt-get prompting for input
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN echo "deb https://repo.download.nvidia.com/jetson/common r35.5 main" >  /etc/apt/sources.list.d/nvidia.list \
-       && echo "deb https://repo.download.nvidia.com/jetson/t234 r35.5 main" >>  /etc/apt/sources.list.d/nvidia.list \
+RUN echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" >  /etc/apt/sources.list.d/nvidia.list \
+       && echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >>  /etc/apt/sources.list.d/nvidia.list \
        && apt-key adv --fetch-key http://repo.download.nvidia.com/jetson/jetson-ota-public.asc \
        && mkdir -p /opt/nvidia/l4t-packages/ && touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
 
-# Download and install BSP binaries for L4T 35.5.0
+# Download and install BSP binaries for L4T 36.3 - Jetpack 6
 RUN \
-    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd && \
-    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v5.0/release/jetson_linux_r35.5.0_aarch64.tbz2 && \
-    tar xf jetson_linux_r35.5.0_aarch64.tbz2 && \
+    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd qemu-user-static cpio git && \
+    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/release/jetson_linux_r36.3.0_aarch64.tbz2 && \
+    tar xf jetson_linux_r36.3.0_aarch64.tbz2 && \
     cd Linux_for_Tegra && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/boot/ && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/usr/bin && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/etc && touch /tmp/Linux_for_Tegra/rootfs/etc/resolv.conf && \
     sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
+    sed -i 's/CheckPackage qemu-user-static/#CheckPackage qemu-user-static/g' tools/l4t_update_initrd.sh && \
+    sed -i 's/trap CleanupVirEnv/#trap CleanupVirEnv/g' tools/l4t_update_initrd.sh&& \
+    sed -i 's|cp /usr/bin/qemu-aarch64-static|#cp /usr/bin/qemu-aarch64-static|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateInitrd|#UpdateInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateBackToBaseInitrd|#UpdateBackToBaseInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|cp /etc/resolv.conf|#cp /etc/resolv.conf|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|mv "${LDK_ROOTFS_DIR}/etc/resolv.conf"|cp "${LDK_ROOTFS_DIR}/etc/resolv.conf"|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|	PrepareVirEnv|#PrepareVirEnv|g' tools/l4t_update_initrd.sh && \
     sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
     sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
-    ./apply_binaries.sh -r / --target-overlay && cd .. \
+    cd /tmp/Linux_for_Tegra/ && ./apply_binaries.sh -r / --target-overlay && cd .. && \
     rm -rf Linux_for_Tegra && \
     echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig
 
-## Install X and xfce
+# Install X and xfce
 RUN \
-  apt-get install -y --no-install-recommends \
-  xserver-xorg-input-evdev \
-  xinit \
-  xfce4 \
-  xfce4-terminal \
-  x11-xserver-utils \
-  dbus-x11 \
-  xterm
+   apt-get install -y --no-install-recommends \
+   xserver-xorg-input-evdev \
+   xinit \
+   xfce4 \
+   xfce4-terminal \
+   x11-xserver-utils \
+   dbus-x11 \
+   xterm
 
 ENV LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/tegra
 ENV UDEV=1
 
 # Prevent screen from turning off
 RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
-  && echo "" >> /etc/X11/xinit/xserverrc \
-  && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc
+   && echo "" >> /etc/X11/xinit/xserverrc \
+   && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc && \
+   echo 'rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4' > /opt/startxfce.sh
 
 ## If any apt packages install mesa-egl, it will overwrite the tegra-egl
 ## symlink and ld path, so the following command will ensure tegra-egl remains
@@ -54,21 +63,29 @@ RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
 #   && ldconfig
 
 ## Optional: Sample CUDA Clock sample run in webterminal:
-##  apt-get update && apt-get install nvidia-l4t-cuda nvidia-cuda cuda-samples-11-4 && cd /usr/local/cuda-11.4/samples/0_Simple/clock/ && make && ./clock
+##  apt-get update && apt-get install -y nvidia-l4t-cuda nvidia-cuda build-essential cuda-nvcc-12-2 && git clone https://github.com/NVIDIA/cuda-samples.git && cd cuda-samples/Samples/1_Utilities/deviceQuery && make && ./deviceQuery
 ##  Example Output:
 ##
-## ./simpleTexture
-## simpleTexture starting...
-## GPU Device 0: "Ampere" with compute capability 8.7
+##./deviceQuery Starting...
+##
+## CUDA Device Query (Runtime API) version (CUDART static linking)
 ##
+## Detected 1 CUDA Capable device(s)
+##
+## Device 0: "Orin"
+##  CUDA Driver Version / Runtime Version          12.2 / 12.2
+##  CUDA Capability Major/Minor version number:    8.7
+##  Total amount of global memory:                 30701 MBytes (32191983616 bytes)
+##  (008) Multiprocessors, (128) CUDA Cores/MP:    1024 CUDA Cores
+##  GPU Max Clock rate:                            1300 MHz (1.30 GHz)
+##  Memory Clock rate:                             612 Mhz
+##  Memory Bus Width:                              256-bit
+##  L2 Cache Size:                                 4194304 bytes
 ## ...
-## Processing time: 0.486000 (ms)
-## 539.39 Mpixels/sec
-## ..
-## simpleTexture completed, returned OK
-
-# Start XFCE desktop
+## deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 12.2, CUDA Runtime Version = 12.2, NumDevs = 1
+## Result = PASS
 
-CMD ["startxfce4"]
+# To start the XFCE desktop, the script called below does `rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4`
 
+CMD ["/bin/bash", "/opt/startxfce.sh"]
 
diff --git a/jetson-orin-nano-devkit-nvme/Dockerfile b/jetson-orin-nano-devkit-nvme/Dockerfile
@@ -1,49 +1,58 @@
-# Cuda Examples can't be compiled with newer glibc, see
-# https://forums.developer.nvidia.com/t/cuda-11-5-samples-throw-multiple-error-attribute-malloc-does-not-take-arguments/192750
-
 # AGX Orin, Orin NX and Orin Nano use the same T234 platform, therefore base images can be used
 # interchangeably as long as nvidia.list contains the right apt repositoy
-FROM balenalib/jetson-agx-orin-devkit-ubuntu:focal
+FROM balenalib/jetson-orin-nano-devkit-nvme-ubuntu:jammy-20240401
 
 # Prevent apt-get prompting for input
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN echo "deb https://repo.download.nvidia.com/jetson/common r35.5 main" >  /etc/apt/sources.list.d/nvidia.list \
-       && echo "deb https://repo.download.nvidia.com/jetson/t234 r35.5 main" >>  /etc/apt/sources.list.d/nvidia.list \
+RUN echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" >  /etc/apt/sources.list.d/nvidia.list \
+       && echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >>  /etc/apt/sources.list.d/nvidia.list \
        && apt-key adv --fetch-key http://repo.download.nvidia.com/jetson/jetson-ota-public.asc \
        && mkdir -p /opt/nvidia/l4t-packages/ && touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
 
-# Download and install BSP binaries for L4T 35.5.5
+# Download and install BSP binaries for L4T 36.3 - Jetpack 6
 RUN \
-    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd && \
-    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v5.0/release/jetson_linux_r35.5.0_aarch64.tbz2 && \
-    tar xf jetson_linux_r35.5.0_aarch64.tbz2 && \
+    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd qemu-user-static cpio git && \
+    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/release/jetson_linux_r36.3.0_aarch64.tbz2 && \
+    tar xf jetson_linux_r36.3.0_aarch64.tbz2 && \
     cd Linux_for_Tegra && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/boot/ && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/usr/bin && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/etc && touch /tmp/Linux_for_Tegra/rootfs/etc/resolv.conf && \
     sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
+    sed -i 's/CheckPackage qemu-user-static/#CheckPackage qemu-user-static/g' tools/l4t_update_initrd.sh && \
+    sed -i 's/trap CleanupVirEnv/#trap CleanupVirEnv/g' tools/l4t_update_initrd.sh&& \
+    sed -i 's|cp /usr/bin/qemu-aarch64-static|#cp /usr/bin/qemu-aarch64-static|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateInitrd|#UpdateInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateBackToBaseInitrd|#UpdateBackToBaseInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|cp /etc/resolv.conf|#cp /etc/resolv.conf|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|mv "${LDK_ROOTFS_DIR}/etc/resolv.conf"|cp "${LDK_ROOTFS_DIR}/etc/resolv.conf"|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|	PrepareVirEnv|#PrepareVirEnv|g' tools/l4t_update_initrd.sh && \
     sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
     sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
-    ./apply_binaries.sh -r / --target-overlay && cd .. \
+    cd /tmp/Linux_for_Tegra/ && ./apply_binaries.sh -r / --target-overlay && cd .. && \
     rm -rf Linux_for_Tegra && \
     echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig
 
-## Install X and xfce
+# Install X and xfce
 RUN \
-  apt-get install -y --no-install-recommends \
-  xserver-xorg-input-evdev \
-  xinit \
-  xfce4 \
-  xfce4-terminal \
-  x11-xserver-utils \
-  dbus-x11 \
-  xterm
+   apt-get install -y --no-install-recommends \
+   xserver-xorg-input-evdev \
+   xinit \
+   xfce4 \
+   xfce4-terminal \
+   x11-xserver-utils \
+   dbus-x11 \
+   xterm
 
 ENV LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/tegra
 ENV UDEV=1
 
 # Prevent screen from turning off
 RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
-  && echo "" >> /etc/X11/xinit/xserverrc \
-  && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc
+   && echo "" >> /etc/X11/xinit/xserverrc \
+   && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc && \
+   echo 'rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4' > /opt/startxfce.sh
 
 ## If any apt packages install mesa-egl, it will overwrite the tegra-egl
 ## symlink and ld path, so the following command will ensure tegra-egl remains
@@ -54,21 +63,29 @@ RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
 #   && ldconfig
 
 ## Optional: Sample CUDA Clock sample run in webterminal:
-##  apt-get update && apt-get install nvidia-l4t-cuda nvidia-cuda cuda-samples-11-4 && cd /usr/local/cuda-11.4/samples/0_Simple/clock/ && make && ./clock
+##  apt-get update && apt-get install -y nvidia-l4t-cuda nvidia-cuda build-essential cuda-nvcc-12-2 && git clone https://github.com/NVIDIA/cuda-samples.git && cd cuda-samples/Samples/1_Utilities/deviceQuery && make && ./deviceQuery
 ##  Example Output:
 ##
-## ./simpleTexture
-## simpleTexture starting...
-## GPU Device 0: "Ampere" with compute capability 8.7
+##./deviceQuery Starting...
+##
+## CUDA Device Query (Runtime API) version (CUDART static linking)
 ##
+## Detected 1 CUDA Capable device(s)
+##
+## Device 0: "Orin"
+##  CUDA Driver Version / Runtime Version          12.2 / 12.2
+##  CUDA Capability Major/Minor version number:    8.7
+##  Total amount of global memory:                 30701 MBytes (32191983616 bytes)
+##  (008) Multiprocessors, (128) CUDA Cores/MP:    1024 CUDA Cores
+##  GPU Max Clock rate:                            1300 MHz (1.30 GHz)
+##  Memory Clock rate:                             612 Mhz
+##  Memory Bus Width:                              256-bit
+##  L2 Cache Size:                                 4194304 bytes
 ## ...
-## Processing time: 0.486000 (ms)
-## 539.39 Mpixels/sec
-## ..
-## simpleTexture completed, returned OK
-
-# Start XFCE desktop
+## deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 12.2, CUDA Runtime Version = 12.2, NumDevs = 1
+## Result = PASS
 
-CMD ["startxfce4"]
+# To start the XFCE desktop, the script called below does `rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4`
 
+CMD ["/bin/bash", "/opt/startxfce.sh"]
 
diff --git a/jetson-orin-nx-xavier-nx-devkit/Dockerfile b/jetson-orin-nx-xavier-nx-devkit/Dockerfile
@@ -1,49 +1,58 @@
-# Cuda Examples can't be compiled with newer glibc, see
-# https://forums.developer.nvidia.com/t/cuda-11-5-samples-throw-multiple-error-attribute-malloc-does-not-take-arguments/192750
-
 # AGX Orin, Orin NX and Orin Nano use the same T234 platform, therefore base images can be used
 # interchangeably as long as nvidia.list contains the right apt repositoy
-FROM balenalib/jetson-agx-orin-devkit-ubuntu:focal
+FROM balenalib/jetson-orin-nx-xavier-nx-devkit-ubuntu:jammy-20240401
 
 # Prevent apt-get prompting for input
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN echo "deb https://repo.download.nvidia.com/jetson/common r35.5 main" >  /etc/apt/sources.list.d/nvidia.list \
-       && echo "deb https://repo.download.nvidia.com/jetson/t234 r35.5 main" >>  /etc/apt/sources.list.d/nvidia.list \
+RUN echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" >  /etc/apt/sources.list.d/nvidia.list \
+       && echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >>  /etc/apt/sources.list.d/nvidia.list \
        && apt-key adv --fetch-key http://repo.download.nvidia.com/jetson/jetson-ota-public.asc \
        && mkdir -p /opt/nvidia/l4t-packages/ && touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall
 
-# Download and install BSP binaries for L4T 35.5.0
+# Download and install BSP binaries for L4T 36.3 - Jetpack 6
 RUN \
-    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd && \
-    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v5.0/release/jetson_linux_r35.5.0_aarch64.tbz2 && \
-    tar xf jetson_linux_r35.5.0_aarch64.tbz2 && \
+    apt-get update && apt-get install -y wget tar lbzip2 binutils xz-utils zstd qemu-user-static cpio git && \
+    cd /tmp/ && wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/release/jetson_linux_r36.3.0_aarch64.tbz2 && \
+    tar xf jetson_linux_r36.3.0_aarch64.tbz2 && \
     cd Linux_for_Tegra && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/boot/ && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/usr/bin && \
+    mkdir -p /tmp/Linux_for_Tegra/rootfs/etc && touch /tmp/Linux_for_Tegra/rootfs/etc/resolv.conf && \
     sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \
+    sed -i 's/CheckPackage qemu-user-static/#CheckPackage qemu-user-static/g' tools/l4t_update_initrd.sh && \
+    sed -i 's/trap CleanupVirEnv/#trap CleanupVirEnv/g' tools/l4t_update_initrd.sh&& \
+    sed -i 's|cp /usr/bin/qemu-aarch64-static|#cp /usr/bin/qemu-aarch64-static|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateInitrd|#UpdateInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|^UpdateBackToBaseInitrd|#UpdateBackToBaseInitrd|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|cp /etc/resolv.conf|#cp /etc/resolv.conf|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|mv "${LDK_ROOTFS_DIR}/etc/resolv.conf"|cp "${LDK_ROOTFS_DIR}/etc/resolv.conf"|g' tools/l4t_update_initrd.sh && \
+    sed -i 's|	PrepareVirEnv|#PrepareVirEnv|g' tools/l4t_update_initrd.sh && \
     sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \
     sed -i 's/chroot . \//  /g' nv_tegra/nv-apply-debs.sh && \
-    ./apply_binaries.sh -r / --target-overlay && cd .. \
+    cd /tmp/Linux_for_Tegra/ && ./apply_binaries.sh -r / --target-overlay && cd .. && \
     rm -rf Linux_for_Tegra && \
     echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig
 
-## Install X and xfce
+# Install X and xfce
 RUN \
-  apt-get install -y --no-install-recommends \
-  xserver-xorg-input-evdev \
-  xinit \
-  xfce4 \
-  xfce4-terminal \
-  x11-xserver-utils \
-  dbus-x11 \
-  xterm
+   apt-get install -y --no-install-recommends \
+   xserver-xorg-input-evdev \
+   xinit \
+   xfce4 \
+   xfce4-terminal \
+   x11-xserver-utils \
+   dbus-x11 \
+   xterm
 
 ENV LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu/tegra
 ENV UDEV=1
 
 # Prevent screen from turning off
 RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
-  && echo "" >> /etc/X11/xinit/xserverrc \
-  && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc
+   && echo "" >> /etc/X11/xinit/xserverrc \
+   && echo 'exec /usr/bin/X -s 0 dpms' >> /etc/X11/xinit/xserverrc && \
+   echo 'rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4' > /opt/startxfce.sh
 
 ## If any apt packages install mesa-egl, it will overwrite the tegra-egl
 ## symlink and ld path, so the following command will ensure tegra-egl remains
@@ -54,21 +63,28 @@ RUN echo "#!/bin/bash" > /etc/X11/xinit/xserverrc \
 #   && ldconfig
 
 ## Optional: Sample CUDA Clock sample run in webterminal:
-##  apt-get update && apt-get install nvidia-l4t-cuda nvidia-cuda cuda-samples-11-4 && cd /usr/local/cuda-11.4/samples/0_Simple/clock/ && make && ./clock
+##  apt-get update && apt-get install -y nvidia-l4t-cuda nvidia-cuda build-essential cuda-nvcc-12-2 && git clone https://github.com/NVIDIA/cuda-samples.git && cd cuda-samples/Samples/1_Utilities/deviceQuery && make && ./deviceQuery
 ##  Example Output:
 ##
-## ./simpleTexture
-## simpleTexture starting...
-## GPU Device 0: "Ampere" with compute capability 8.7
+##./deviceQuery Starting...
+##
+## CUDA Device Query (Runtime API) version (CUDART static linking)
+##
+## Detected 1 CUDA Capable device(s)
 ##
+## Device 0: "Orin"
+##  CUDA Driver Version / Runtime Version          12.2 / 12.2
+##  CUDA Capability Major/Minor version number:    8.7
+##  Total amount of global memory:                 30701 MBytes (32191983616 bytes)
+##  (008) Multiprocessors, (128) CUDA Cores/MP:    1024 CUDA Cores
+##  GPU Max Clock rate:                            1300 MHz (1.30 GHz)
+##  Memory Clock rate:                             612 Mhz
+##  Memory Bus Width:                              256-bit
+##  L2 Cache Size:                                 4194304 bytes
 ## ...
-## Processing time: 0.486000 (ms)
-## 539.39 Mpixels/sec
-## ..
-## simpleTexture completed, returned OK
-
-# Start XFCE desktop
-
-CMD ["startxfce4"]
+## deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 12.2, CUDA Runtime Version = 12.2, NumDevs = 1
+## Result = PASS
 
+# To start the XFCE desktop, the script called below does `rmmod nvidia_drm && rmmod nvidia_modeset && startxfce4`
 
+CMD ["/bin/bash", "/opt/startxfce.sh"]