Add DriveOS sample build instructions to the README

README.md

@@ -77,10 +77,31 @@ To build the TensorRT-OSS components, you will first need the following software
    ```bash
    git clone -b main https://github.com/nvidia/TensorRT TensorRT
    cd TensorRT
+   export TRT_OSSPATH="$(pwd)"
    git submodule update --init --recursive
    ```
 
-2. #### (Optional - if not using TensorRT container) Specify the TensorRT GA release build path
+2. #### (If using a build container) Specify the TensorRT library location
+
+   Build containers preinstall the TensorRT libraries. Set `TRT_LIBPATH` to the directory that
+   matches the target you build for:
+
+   ```bash
+   # Typical x86 lib path in TensorRT and other containers
+   export TRT_LIBPATH="/usr/lib/x86_64-linux-gnu"
+
+   # Typical aarch64 Linux lib path in cross-compiling containers
+   export TRT_LIBPATH="/usr/lib/aarch64-linux-gnu"
+
+   # Typical aarch64 QNX lib path in cross-compiling containers
+   export TRT_LIBPATH="/usr/lib/aarch64-unknown-nto-qnx"
+   ```
+
+   > NOTE: A container holds more than one `libnvinfer.so`. Pick the one that matches your target,
+   > because the x86 libraries do not link into an aarch64 build. To list them, run
+   > `find / -name libnvinfer.so`.
+
+3. #### (If not using TensorRT container) Specify the TensorRT GA release build path
 
    If using the TensorRT OSS build container, TensorRT libraries are preinstalled under `/usr/lib/x86_64-linux-gnu` and you may skip this step.
 
@@ -226,6 +247,87 @@ For Linux platforms, we recommend that you generate a docker container for build
   - `GPU_ARCHS`: GPU (SM) architectures to target. By default we generate CUDA code for all major SMs. Specific SM versions can be specified here as a quoted space-separated list to reduce compilation time and binary size. Table of compute capabilities of NVIDIA GPUs can be found [here](https://developer.nvidia.com/cuda-gpus). Examples: - NVidia A100: `-DGPU_ARCHS="80"` - RTX 50 series: `-DGPU_ARCHS="120"` - Multiple SMs: `-DGPU_ARCHS="80 120"`
   - `TRT_PLATFORM_ID`: Bare-metal build (unlike containerized cross-compilation). Currently supported options: `x86_64` (default).
 
+## Building TensorRT DriveOS Samples
+
+  The TensorRT samples are no longer included in the DriveOS SDK under `/usr/src/tensorrt`.
+  This is expected since samples have moved to GitHub when switching to CMake.
+
+  Follow the DriveOS Installation Guide to launch your desired DriveOS container, then
+  follow the rest of these instructions to clone and build this repository in that container.
+
+  Access the DriveOS Installation Guide for the current release at
+  Developer Zone - https://developer.nvidia.com/drive/documentation
+  NVONLINE - Search for "NVIDIA DriveOS 7.x Installation Guide"
+
+- Generate Makefiles and build
+
+  **Example: Cross-Compile for DOS7 Linux (aarch64)**
+
+  ```bash
+  cd $TRT_OSSPATH
+  mkdir -p build && cd build
+  cmake .. -DBUILD_SAMPLES=ON -DBUILD_PLUGINS=OFF -DBUILD_PARSERS=OFF -DTRT_OUT_DIR=`pwd`/bin_dynamic_cross -DTRT_LIB_DIR=$TRT_LIBPATH -DCMAKE_TOOLCHAIN_FILE=$TRT_OSSPATH/cmake/toolchains/cmake_aarch64_dos_cross.toolchain
+  make -j$(nproc)
+  ```
+
+  **Example: Cross-Compile for DOS6.5 Linux (aarch64)**
+
+  ```bash
+  cd $TRT_OSSPATH
+  mkdir -p build && cd build
+  cmake .. -DBUILD_SAMPLES=ON -DBUILD_PLUGINS=OFF -DBUILD_PARSERS=OFF -DTRT_OUT_DIR=`pwd`/bin_dynamic_cross -DTRT_LIB_DIR=$TRT_LIBPATH -DCMAKE_TOOLCHAIN_FILE=$TRT_OSSPATH/cmake/toolchains/cmake_aarch64_dos_cross.toolchain -DCUDA_VERSION=11.4 -DCMAKE_CUDA_ARCHITECTURES=87
+  make -j$(nproc)
+  ```
+
+  **Example: Native build for DOS6.5 and DOS7 Linux (aarch64)**
+
+  ```bash
+  cd $TRT_OSSPATH
+  mkdir -p build && cd build
+  cmake .. -DTRT_LIB_DIR=$TRT_LIBPATH -DTRT_OUT_DIR=`pwd`/out -DTRT_PLATFORM_ID=aarch64 -DBUILD_SAMPLES=ON -DBUILD_PLUGINS=OFF -DBUILD_PARSERS=OFF
+  make -j$(nproc)
+  ```
+
+  **Example: Cross-Compile for DOS6.5 QNX (aarch64)**
+
+  > NOTE: Set `QNX_BASE` to your QNX toolchain installation path.
+  > For more information on installing the QNX SDP, refer to the NVIDIA DriveOS QNX Installation Guide for your DriveOS release.
+  > If your CUDA version is not the same as in the example, set `CUDA_VERSION` (for examples that use it in multiple places) or add `-DCUDA_VERSION=<version>` to the cmake command.
+
+  ```bash
+  cd $TRT_OSSPATH
+  mkdir -p build && cd build
+  export CUDA_VERSION=11.4
+  export CUDA=cuda-$CUDA_VERSION
+  export CUDA_ROOT=/usr/local/cuda-safe-$CUDA_VERSION
+  export QNX_BASE=/drive/toolchains/qnx_toolchain  # Set to your QNX toolchain installation path
+  export QNX_HOST=$QNX_BASE/host/linux/x86_64/
+  export QNX_TARGET=$QNX_BASE/target/qnx7/
+  export PATH=$PATH:$QNX_HOST/usr/bin
+  cmake .. -DBUILD_SAMPLES=ON -DBUILD_PLUGINS=OFF -DBUILD_PARSERS=OFF -DBUILD_SAFE_SAMPLES=OFF -DCMAKE_CUDA_COMPILER=$CUDA_ROOT/bin/nvcc -DTRT_OUT_DIR=`pwd`/bin_dynamic_cross -DTRT_LIB_DIR=$TRT_LIBPATH -DCMAKE_TOOLCHAIN_FILE=$TRT_OSSPATH/cmake/toolchains/cmake_qnx.toolchain -DCUDA_VERSION=$CUDA_VERSION -DCMAKE_CUDA_ARCHITECTURES=87
+  make -j$(nproc)
+  ```
+
+  **Example: Cross-Compile for DOS7 QNX (aarch64)**
+
+  > NOTE: Set `QNX_BASE` to your QNX toolchain installation path.
+  > For more information on installing the QNX SDP, refer to the NVIDIA DriveOS QNX Installation Guide for your DriveOS release.
+  > If your CUDA version is not the same as in the example, set `CUDA_VERSION` (for examples that use it in multiple places) or add `-DCUDA_VERSION=<version>` to the cmake command.
+
+  ```bash
+  cd $TRT_OSSPATH
+  mkdir -p build && cd build
+  export CUDA_VERSION=13.2
+  export CUDA=cuda-$CUDA_VERSION
+  export CUDA_ROOT=/usr/local/cuda-safe-$CUDA_VERSION
+  export QNX_BASE=/drive/toolchains/qnx_toolchain  # Set to your QNX toolchain installation path
+  export QNX_HOST=$QNX_BASE/host/linux/x86_64/
+  export QNX_TARGET=$QNX_BASE/target/qnx/
+  export PATH=$PATH:$QNX_HOST/usr/bin
+  cmake .. -DBUILD_SAMPLES=ON -DBUILD_PLUGINS=OFF -DBUILD_PARSERS=OFF -DBUILD_SAFE_SAMPLES=OFF -DCMAKE_CUDA_COMPILER=$CUDA_ROOT/bin/nvcc -DTRT_OUT_DIR=`pwd`/bin_dynamic_cross -DTRT_LIB_DIR=$TRT_LIBPATH -DCMAKE_TOOLCHAIN_FILE=$TRT_OSSPATH/cmake/toolchains/cmake_qnx.toolchain -DCUDA_VERSION=$CUDA_VERSION -DCMAKE_CUDA_ARCHITECTURES=110
+  make -j$(nproc)
+  ```
+
 # References
 
 ## TensorRT Resources