Closed tmichals closed 4 years ago
Seems like a mismatch between ROS wrapper version and installed librealsense version (installed version seem to be older than the one required by the wrapper) I would uninstall any version of librealsense and the wrapper, clone/install both according to instructions on the ROS wrapper repo and try again.
Hi, Have you tried dorodnic's suggestion. Assuming no news is good news?
Thanks
Here is my update so far, full idea. I FLASHed my TX2 with latest Jetpack. Which installed Ubuntu 18.04, with OpenCV, Tensor RT, etc. … Next, I "tried to" installed ROS Kenetic, which for the most part installed, but it had issues. I am not sure if Kenetic would install on 18.04 . Next I did a full ROS-Desktop-Full install of Melodic on the TX2 which completed without error. I then installed rtabmap. I would like to build rtabmap for OpenCV - https://github.com/introlab/rtabmap_ros - Build from source for Nvidia Jetson with OpenCV 4 Tegra - Step 9 . I will update this as soon as complete the install for the RealSense SDK and the RealSense ROS-Wrapper on the TX2. I was thinking … until previous message... that I did not need to install RealSense on my TX2 with the ROS-Wrapper and the SDK, since I was using my Nano for interfacing to T265 and D435 … I wanted to use my TX2 to handle rtabmap. But I still need to complete I think a tf between the d435 and t265 camera's. My goal is to link the RealSense topics on a Nano ---> to rtabmap on a TX2. I may have to install the RealSense wrapper on the TX2(like the Nano) and connect the cameras direct on the TX2 if I can not get rtabmap to work with the RealSense published topics point cloud from the Nano. I am doing this because of a hardware issue that the tx2 only has 1 usb port so then I have to have a usb hub to interface to the camera's...rather use a Nano (because it has 4 usb ports only uses 5v 3amps). Currently rtabmap does not seem to work because of the issues I am having creating a tf to join the camera's together. I opened an issue about that under realsense/rtabmap for my Nano. More to come...
On Friday, December 6, 2019, 01:34:37 PM EST, RealSense Customer Support notifications@github.com wrote:
Hi, Have you tried dorodnic's suggestion. Assuming no news is good news?
Thanks
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or unsubscribe.
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found -- Looking for semaphore.h -- Looking for semaphore.h - found -- Performing Test HAVE_CXX_WNO_SHADOW -- Performing Test HAVE_CXX_WNO_SHADOW - Success -- Performing Test HAVE_CXX_WNO_UNUSED -- Performing Test HAVE_CXX_WNO_UNUSED - Success -- Performing Test HAVE_CXX_WNO_SIGN_COMPARE -- Performing Test HAVE_CXX_WNO_SIGN_COMPARE - Success -- Performing Test HAVE_CXX_WNO_UNDEF -- Performing Test HAVE_CXX_WNO_UNDEF - Success -- Performing Test HAVE_CXX_WNO_MISSING_DECLARATIONS -- Performing Test HAVE_CXX_WNO_MISSING_DECLARATIONS - Success -- Performing Test HAVE_CXX_WNO_UNINITIALIZED -- Performing Test HAVE_CXX_WNO_UNINITIALIZED - Success -- Performing Test HAVE_CXX_WNO_SWITCH -- Performing Test HAVE_CXX_WNO_SWITCH - Success -- Performing Test HAVE_CXX_WNO_PARENTHESES -- Performing Test HAVE_CXX_WNO_PARENTHESES - Success -- Performing Test HAVE_CXX_WNO_ARRAY_BOUNDS -- Performing Test HAVE_CXX_WNO_ARRAY_BOUNDS - Success -- Performing Test HAVE_CXX_WNO_EXTRA -- Performing Test HAVE_CXX_WNO_EXTRA - 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Success -- Performing Test HAVE_CXX_WNO_UNUSED_RESULT -- Performing Test HAVE_CXX_WNO_UNUSED_RESULT - Success -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Found CUDNN: /usr/lib/aarch64-linux-gnu/libcudnn.so (found suitable version "7.5.0", minimum required is "6") -- CUDA detected: 10.0 -- CUDA NVCC target flags: -gencode;arch=compute_53,code=sm_53;-D_FORCE_INLINES -- Could not find OpenBLAS include. Turning OpenBLAS_FOUND off -- Could not find OpenBLAS lib. Turning OpenBLAS_FOUND off -- Could NOT find Atlas (missing: Atlas_CLAPACK_INCLUDE_DIR Atlas_CBLAS_LIBRARY Atlas_BLASLIBRARY) -- Looking for sgemm -- Looking for sgemm - found -- A library with BLAS API found. -- Looking for cheev -- Looking for cheev_ - found -- A library with LAPACK API found. -- Performing Test HAVE_CXX_WNO_UNUSED_PARAMETER -- Performing Test HAVE_CXX_WNO_UNUSED_PARAMETER - Success -- Performing Test HAVE_CXX_WNO_UNUSED_LOCAL_TYPEDEFS -- Performing Test HAVE_CXX_WNO_UNUSED_LOCAL_TYPEDEFS - Success -- Performing Test HAVE_CXX_WNO_SIGN_PROMO -- Performing Test HAVE_CXX_WNO_SIGN_PROMO - Success -- Performing Test HAVE_CXX_WNO_TAUTOLOGICAL_UNDEFINED_COMPARE -- Performing Test HAVE_CXX_WNO_TAUTOLOGICAL_UNDEFINED_COMPARE - Failed -- Performing Test HAVE_CXX_WNO_IGNORED_QUALIFIERS -- Performing Test HAVE_CXX_WNO_IGNORED_QUALIFIERS - Success -- Performing Test HAVE_CXX_WNO_UNUSED_FUNCTION -- Performing Test HAVE_CXX_WNO_UNUSED_FUNCTION - Success -- Performing Test HAVE_CXX_WNO_UNUSED_CONST_VARIABLE -- Performing Test HAVE_CXX_WNO_UNUSED_CONST_VARIABLE - Success -- Performing Test HAVE_CXX_WNO_SHORTEN_64_TO_32 -- Performing Test HAVE_CXX_WNO_SHORTEN_64_TO_32 - Failed -- Performing Test HAVE_CXX_WNO_INVALID_OFFSETOF -- Performing Test HAVE_CXX_WNO_INVALID_OFFSETOF - Success -- Performing Test HAVE_CXX_WNO_ENUM_COMPARE_SWITCH -- Performing Test HAVE_CXX_WNO_ENUM_COMPARE_SWITCH - Failed -- Could NOT find JNI (missing: JAVA_AWT_LIBRARY JAVA_JVM_LIBRARY JAVA_INCLUDE_PATH JAVA_INCLUDE_PATH2 JAVA_AWT_INCLUDE_PATH) -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. 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-- Install to: /usr/local
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I used the latest JetsonHacks Nano installs on my TX2 and everything appears to be working now. I flashed the TX2 with JetPack 4.3 L4T 32.3.1, then used JetsonHacks scripts for RealSense, ROS, ROS RealSense Wrapper... everything seems to be working well. Installing is very easy now.
I am trying to build trabmap https://github.com/introlab/rtabmap_ros on Step 9. >>>> When I try building rtabmap.... I get the following RealSense errors....
error:
++++++++++++++++++++++++++++++++++++++++++++++++ tom@tx2:~/rtabmap/build$ make [ 6%] Built target rtabmap_utilite [ 6%] Built target res_tool [ 6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o /home/lcs/rtabmap/corelib/src/camera/CameraRealSense2.cpp: In member function ‘virtual bool rtabmap::CameraRealSense2::init(const string&, const string&)’: /home/lcs/rtabmap/corelib/src/camera/CameraRealSense2.cpp:547:42: error: ‘RS2_OPTION_ENABLE_POSE_JUMPING’ is not a member of ‘rs2_option’ sensors.back().set_option(rs2_option::RS2_OPTION_ENABLE_POSE_JUMPING, 0); ^
~~~~~~~~~ /home/lcs/rtabmap/corelib/src/camera/CameraRealSense2.cpp:548:42: error: ‘RS2_OPTION_ENABLE_RELOCALIZATION’ is not a member of ‘rs2_option’ sensors.back().set_option(rs2_option::RS2_OPTION_ENABLE_RELOCALIZATION, 0); ^~~~~~~~ corelib/src/CMakeFiles/rtabmap_core.dir/build.make:547: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o' failed make[2]: [corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o] Error 1 CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++Any ideas where I need to make changes? I know that these https://github.com/IntelRealSense/librealsense/wiki/API-Changes where made for the T265 but they seem to create a problem with the rtabmap build.