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vision-rs / Cross-Compilation & Deployment

Building for Jetson Orin Nano

vision-rs targets the Jetson Orin Nano (aarch64-unknown-linux-gnu) using cross via the cargo-teeny plugin.

Additional prerequisites

  1. Install cross:
    cargo install cross --git https://github.com/cross-rs/cross
  2. Add the aarch64 target:
    rustup target add aarch64-unknown-linux-gnu
  3. CUDA aarch64 libraries — the build mounts the host’s CUDA aarch64 target directory into the cross container, so the cross-compiled binary links against the CUDA version actually present on the Jetson’s JetPack (independent of the host’s own CUDA 13.3, which is only used for AOT-compiling kernels). Default path:
    /usr/local/cuda-12.6/targets/aarch64-linux
    If your device’s JetPack CUDA version differs, pass --cuda-path <path> on every build/package command below.

Building

# Build the library in release mode (default)
cargo teeny build --target jetson-orin-nano

# Build all examples / a single example
cargo teeny build --target jetson-orin-nano --examples
cargo teeny build --target jetson-orin-nano --example yolo26

# Type-check only (faster feedback), or lint
cargo teeny check --target jetson-orin-nano
cargo teeny clippy --target jetson-orin-nano

# Debug build
cargo teeny build --target jetson-orin-nano --no-release

# Custom CUDA path (target device's JetPack CUDA version)
cargo teeny build --target jetson-orin-nano --cuda-path /usr/local/cuda-12.8/targets/aarch64-linux

Compiled artifacts land in target/aarch64-unknown-linux-gnu/release/.

How it works

cargo teeny build wraps cross build and automatically:

  • Resolves the teenygrad workspace root from Cargo.toml’s [patch.crates-io] entries and mounts it into the cross container — required because cross only auto-mounts individual crate directories, not the workspace root providing Cargo.toml inheritance.
  • Mounts the host CUDA aarch64 target directory at the path the cross container’s Dockerfile expects.
  • Uses the custom image defined in docker/Dockerfile.jetson-orin-nano, which extends the cross base image with clang-12 (required by bindgen for aarch64 cross-bindings).

Once you have a cross-compiled binary, see Packaging a Deployable Bundle to combine it with ahead-of-time-compiled kernels into something you can copy straight to the device.