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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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Dependency Issues with ROS2 Wrapper #2369

Closed RNorlie closed 2 years ago

RNorlie commented 2 years ago
Required Info
Camera Model D435i & L515
Operating System & Version Linux (Ubuntu 18.04LTS) Jetpack 4.5
ROS2 Distro Foxy (Built from source)
Kernel Version 4.9.140-tegra
Platform NVIDIA Jetson Xavier NX
Architecture Arm64
SDK Version 2.50.0

Issue Description

Hello. New to ROS2 and new to Linux, apologies for any basic questions or redundancies!

I am looking to implement SLAM using the D435i and L515 in a ROS2 environment. I have been able to run both the RealSense and ROS2 software independently, but I am encountering errors when I attempt to install the ROS2 Wrapper for RealSense.

I installed the latest RealSense SDK with Debian Packages from the Jetson installation guide: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

Installing Realsense ROS2 Wrapper:

jetson_dev@jetson-dev-desktop:~/ros2_ws$ . ~/ros2_foxy/install/local_setup.bash
jetson_dev@jetson-dev-desktop:~/ros2_ws$ rosdep install -i --from-path src --ignore-src -r --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
realsense2_camera: No definition of [diagnostic_updater] for OS version [bionic]
realsense2_description: No definition of [xacro] for OS version [bionic]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

jetson_dev@jetson-dev-desktop:~/ros2_ws$ colcon build
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [4.19s]                     
Starting >>> realsense2_camera
Starting >>> realsense2_description             
Finished <<< realsense2_description [0.77s]                           
--- stderr: realsense2_camera                          
CMake Error at CMakeLists.txt:89 (find_package):
  By not providing "Findcv_bridge.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "cv_bridge", but CMake did not find one.

  Could not find a package configuration file provided by "cv_bridge" with
  any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
  "cv_bridge_DIR" to a directory containing one of the above files.  If
  "cv_bridge" provides a separate development package or SDK, be sure it has
  been installed.

---
Failed   <<< realsense2_camera [4.33s, exited with code 1]

Summary: 2 packages finished [10.1s]
  1 package failed: realsense2_camera
  1 package had stderr output: realsense2_camera

Using the -r flag with rosdep install successfully ignores the dependency errors, but the build is still unsuccessful.

Do you have any suggestions?

MartyG-RealSense commented 2 years ago

This is a continuation of a case begun at https://github.com/IntelRealSense/librealsense/issues/10562

I researched the case again from the beginning. Your Ubuntu version is Bionic (18.04). If you are using the ros2_beta wrapper then its documentation recommends Ubuntu Focal (20.04) for use with Foxy. The same recommendation of 20.04 for Foxy also applies to the previous ros2 branch of the wrapper.

image

RNorlie commented 2 years ago

Hi Marty, Thank you so much for continuing to follow up with me.

NVidia Jetson devices come with Ubuntu 18.04 pre-installed in Jetpack. I have reservations about upgrading my OS, as I'd like to use multiple cameras in my development.

As per https://dev.intelrealsense.com/docs/nvidia-jetson-tx2-installation:

snip-for-marty

Would upgrading my OS, and therefore not utilizing the native kernel drivers limit me to using only one camera?

MartyG-RealSense commented 2 years ago

Whilst a native build of librealsense is the ideal for a multiple camera project, multicam can work with an RSUSB backend build, and Intel made improvements to RSUSB's multicam handling back in SDK 2.35.2, as described at https://github.com/IntelRealSense/librealsense/pull/6467

RNorlie commented 2 years ago

Very good! Thank you for the advice. I think I will try running Jetpack 5.0, as there was reported success from here:

IntelRealSense/LibRealSense#10416

Hopefully the ROS2 Wrapper will be compatible, as Jetpack 5 contains Ubuntu 20.04.

RNorlie commented 2 years ago

Hi, @MartyG-RealSense.

I've successfully installed ROS2 foxy and the RealSense SDK v.2.50.0 from source on Jetpack 5.01, Ubuntu 20.04, kernel version: 5.10.65-tegra

This did resolve one of my issues! All of the dependencies appear to be resolved, but I get the same error message when I try to use colcon build.

This was the output from my latest attempt:

jetson_dev@jetson-dev-desktop:~/ros2_ws$ . ~/ros2_foxy/install/local_setup.bash
jetson_dev@jetson-dev-desktop:~/ros2_ws$ rosdep install -i --from-path src --ignore-src -r --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
executing command [sudo -H apt-get install -y ros-foxy-xacro]
Reading package lists... Done
Building dependency tree     
Reading state information... Done
The following additional packages will be installed:
  ros-foxy-ament-index-python ros-foxy-ros-workspace
The following NEW packages will be installed:
  ros-foxy-ament-index-python ros-foxy-ros-workspace ros-foxy-xacro
0 upgraded, 3 newly installed, 0 to remove and 14 not upgraded.
Need to get 59.5 kB of archives.
After this operation, 293 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu focal/main arm64 ros-foxy-ros-workspace arm64 1.0.1-1focal.20210901.015945 [16.0 kB]
Get:2 http://packages.ros.org/ros2/ubuntu focal/main arm64 ros-foxy-ament-index-python arm64 1.1.0-1focal.20210901.043036 [8,940 B]
Get:3 http://packages.ros.org/ros2/ubuntu focal/main arm64 ros-foxy-xacro arm64 2.0.7-1focal.20210904.001036 [34.6 kB]
Fetched 59.5 kB in 0s (120 kB/s)     
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package ros-foxy-ros-workspace.
(Reading database ... 207042 files and directories currently installed.)
Preparing to unpack .../ros-foxy-ros-workspace_1.0.1-1focal.20210901.015945_arm64.deb ...
Unpacking ros-foxy-ros-workspace (1.0.1-1focal.20210901.015945) ...
Selecting previously unselected package ros-foxy-ament-index-python.
Preparing to unpack .../ros-foxy-ament-index-python_1.1.0-1focal.20210901.043036_arm64.deb ...
Unpacking ros-foxy-ament-index-python (1.1.0-1focal.20210901.043036) ...
Selecting previously unselected package ros-foxy-xacro.
Preparing to unpack .../ros-foxy-xacro_2.0.7-1focal.20210904.001036_arm64.deb ...
Unpacking ros-foxy-xacro (2.0.7-1focal.20210904.001036) ...
Setting up ros-foxy-ros-workspace (1.0.1-1focal.20210901.015945) ...
Setting up ros-foxy-ament-index-python (1.1.0-1focal.20210901.043036) ...
Setting up ros-foxy-xacro (2.0.7-1focal.20210904.001036) ...
executing command [sudo -H apt-get install -y ros-foxy-cv-bridge]
Reading package lists... Done
Building dependency tree     
Reading state information... Done
The following additional packages will be installed:
  gdal-data libaec0 libarmadillo9 libarpack2 libboost-python1.71.0 libcfitsio8 libcharls2 libdap25
  libdapclient6v5 libepsilon1 libfreexl1 libfyba0 libgdal26 libgdcm3.0 libgeos-3.8.0 libgeos-c1v5
  libgeotiff5 libhdf4-0-alt libhdf5-103 libkmlbase1 libkmldom1 libkmlengine1 libnetcdf15 libodbc1
  libogdi4.1 libopencv-imgcodecs4.2 libopencv-imgproc4.2 libpq5 libproj15 libqhull7 libsocket++1
  libspatialite7 libsuperlu5 libsz2 liburiparser1 libxerces-c3.2 odbcinst odbcinst1debian2 proj-bin
  proj-data ros-foxy-ament-cmake ros-foxy-ament-cmake-core ros-foxy-ament-cmake-export-definitions
  ros-foxy-ament-cmake-export-dependencies ros-foxy-ament-cmake-export-include-directories
  ros-foxy-ament-cmake-export-interfaces ros-foxy-ament-cmake-export-libraries
  ros-foxy-ament-cmake-export-link-flags ros-foxy-ament-cmake-export-targets
  ros-foxy-ament-cmake-include-directories ros-foxy-ament-cmake-libraries
  ros-foxy-ament-cmake-python ros-foxy-ament-cmake-target-dependencies ros-foxy-ament-cmake-test
  ros-foxy-ament-cmake-version ros-foxy-ament-package ros-foxy-builtin-interfaces ros-foxy-fastcdr
  ros-foxy-geometry-msgs ros-foxy-python-cmake-module ros-foxy-rcpputils ros-foxy-rcutils
  ros-foxy-rmw ros-foxy-rosidl-adapter ros-foxy-rosidl-cmake ros-foxy-rosidl-default-runtime
  ros-foxy-rosidl-generator-c ros-foxy-rosidl-generator-py ros-foxy-rosidl-parser
  ros-foxy-rosidl-runtime-c ros-foxy-rosidl-runtime-cpp ros-foxy-rosidl-typesupport-c
  ros-foxy-rosidl-typesupport-cpp ros-foxy-rosidl-typesupport-interface
  ros-foxy-rosidl-typesupport-introspection-c ros-foxy-rosidl-typesupport-introspection-cpp
  ros-foxy-rpyutils ros-foxy-sensor-msgs ros-foxy-std-msgs
Suggested packages:
  geotiff-bin gdal-bin libgeotiff-epsg libhdf4-doc libhdf4-alt-dev hdf4-tools libmyodbc
  odbc-postgresql tdsodbc unixodbc-bin ogdi-bin ros-foxy-rosidl-typesupport-connext-c
  ros-foxy-rosidl-typesupport-fastrtps-c ros-foxy-rosidl-typesupport-connext-cpp
  ros-foxy-rosidl-typesupport-fastrtps-cpp
The following NEW packages will be installed:
  gdal-data libaec0 libarmadillo9 libarpack2 libboost-python1.71.0 libcfitsio8 libcharls2 libdap25
  libdapclient6v5 libepsilon1 libfreexl1 libfyba0 libgdal26 libgdcm3.0 libgeos-3.8.0 libgeos-c1v5
  libgeotiff5 libhdf4-0-alt libhdf5-103 libkmlbase1 libkmldom1 libkmlengine1 libnetcdf15 libodbc1
  libogdi4.1 libopencv-imgcodecs4.2 libopencv-imgproc4.2 libpq5 libproj15 libqhull7 libsocket++1
  libspatialite7 libsuperlu5 libsz2 liburiparser1 libxerces-c3.2 odbcinst odbcinst1debian2 proj-bin
  proj-data ros-foxy-ament-cmake ros-foxy-ament-cmake-core ros-foxy-ament-cmake-export-definitions
  ros-foxy-ament-cmake-export-dependencies ros-foxy-ament-cmake-export-include-directories
  ros-foxy-ament-cmake-export-interfaces ros-foxy-ament-cmake-export-libraries
  ros-foxy-ament-cmake-export-link-flags ros-foxy-ament-cmake-export-targets
  ros-foxy-ament-cmake-include-directories ros-foxy-ament-cmake-libraries
  ros-foxy-ament-cmake-python ros-foxy-ament-cmake-target-dependencies ros-foxy-ament-cmake-test
  ros-foxy-ament-cmake-version ros-foxy-ament-package ros-foxy-builtin-interfaces
  ros-foxy-cv-bridge ros-foxy-fastcdr ros-foxy-geometry-msgs ros-foxy-python-cmake-module
  ros-foxy-rcpputils ros-foxy-rcutils ros-foxy-rmw ros-foxy-rosidl-adapter ros-foxy-rosidl-cmake
  ros-foxy-rosidl-default-runtime ros-foxy-rosidl-generator-c ros-foxy-rosidl-generator-py
  ros-foxy-rosidl-parser ros-foxy-rosidl-runtime-c ros-foxy-rosidl-runtime-cpp
  ros-foxy-rosidl-typesupport-c ros-foxy-rosidl-typesupport-cpp
  ros-foxy-rosidl-typesupport-interface ros-foxy-rosidl-typesupport-introspection-c
  ros-foxy-rosidl-typesupport-introspection-cpp ros-foxy-rpyutils ros-foxy-sensor-msgs
  ros-foxy-std-msgs
0 upgraded, 80 newly installed, 0 to remove and 14 not upgraded.
Need to get 24.9 MB of archives.
After this operation, 105 MB of additional disk space will be used.
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Get:42 http://ports.ubuntu.com/ubuntu-ports focal/universe arm64 libarmadillo9 arm64 1:9.800.4+dfsg-1build1 [92.5 kB]
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Get:79 http://ports.ubuntu.com/ubuntu-ports focal/universe arm64 libopencv-imgcodecs4.2 arm64 4.2.0+dfsg-5 [94.9 kB]
Get:80 http://ports.ubuntu.com/ubuntu-ports focal/universe arm64 proj-bin arm64 6.3.1-1 [81.5 kB]   
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Setting up ros-foxy-rosidl-typesupport-interface (1.2.1-1focal.20210901.054738) ...
Setting up ros-foxy-ament-cmake-core (0.9.9-1focal.20210901.015622) ...
Setting up libsz2:arm64 (1.0.4-1) ...
Setting up ros-foxy-ament-cmake-include-directories (0.9.9-1focal.20210901.031045) ...
Setting up libkmldom1:arm64 (1.3.0-8build1) ...
Setting up libspatialite7:arm64 (4.3.0a-6build1) ...
Setting up ros-foxy-rosidl-parser (1.2.1-1focal.20210901.054609) ...
Setting up libkmlengine1:arm64 (1.3.0-8build1) ...
Setting up ros-foxy-ament-cmake-export-definitions (0.9.9-1focal.20210901.030204) ...
Setting up ros-foxy-ament-cmake-export-link-flags (0.9.9-1focal.20210901.031007) ...
Setting up ros-foxy-ament-cmake-version (0.9.9-1focal.20210901.023014) ...
Setting up ros-foxy-rcpputils (1.3.2-1focal.20220112.193329) ...
Setting up proj-bin (6.3.1-1) ...
Setting up ros-foxy-ament-cmake-export-libraries (0.9.9-1focal.20210901.030330) ...
Setting up ros-foxy-ament-cmake-export-include-directories (0.9.9-1focal.20210901.030328) ...
Setting up libgeotiff5:arm64 (1.5.1-2) ...
Setting up ros-foxy-ament-cmake-export-targets (0.9.9-1focal.20210901.031048) ...
Setting up ros-foxy-ament-cmake-libraries (0.9.9-1focal.20210901.021728) ...
Setting up libgdcm3.0:arm64 (3.0.5-1.1ubuntu2) ...
Setting up ros-foxy-ament-cmake-python (0.9.9-1focal.20210901.021729) ...
Setting up libhdf5-103:arm64 (1.10.4+repack-11ubuntu1) ...
Setting up ros-foxy-ament-cmake-test (0.9.9-1focal.20210901.023040) ...
Setting up ros-foxy-ament-cmake-export-dependencies (0.9.9-1focal.20210901.023027) ...
Setting up ros-foxy-ament-cmake-target-dependencies (0.9.9-1focal.20210901.031444) ...
Setting up ros-foxy-ament-cmake-export-interfaces (0.9.9-1focal.20210901.031047) ...
Setting up libnetcdf15:arm64 (1:4.7.3-1) ...
Setting up ros-foxy-ament-cmake (0.9.9-1focal.20210901.031756) ...
Setting up ros-foxy-rosidl-cmake (1.2.1-1focal.20210901.054905) ...
Setting up ros-foxy-rosidl-generator-c (1.2.1-1focal.20220115.045952) ...
Setting up ros-foxy-rosidl-runtime-c (1.2.1-1focal.20220115.045428) ...
Setting up ros-foxy-rosidl-runtime-cpp (1.2.1-1focal.20220115.045431) ...
Setting up ros-foxy-rosidl-typesupport-c (1.0.2-1focal.20220115.051647) ...
Setting up ros-foxy-rosidl-typesupport-introspection-c (1.2.1-1focal.20220115.050325) ...
Setting up ros-foxy-rosidl-typesupport-introspection-cpp (1.2.1-1focal.20220115.051312) ...
Setting up ros-foxy-rosidl-typesupport-cpp (1.0.2-1focal.20220115.053519) ...
Setting up ros-foxy-rmw (1.0.3-1focal.20220115.050344) ...
Setting up ros-foxy-rosidl-generator-py (0.9.5-1focal.20220209.135544) ...
Setting up ros-foxy-rosidl-default-runtime (1.0.1-1focal.20220209.135835) ...
Setting up ros-foxy-builtin-interfaces (1.0.0-1focal.20220209.135951) ...
Setting up ros-foxy-std-msgs (2.0.5-1focal.20220209.140708) ...
Setting up ros-foxy-geometry-msgs (2.0.5-1focal.20220209.141546) ...
Setting up ros-foxy-sensor-msgs (2.0.5-1focal.20220209.142105) ...
Setting up odbcinst (2.3.6-0.1build1) ...
Setting up odbcinst1debian2:arm64 (2.3.6-0.1build1) ...
Setting up libgdal26 (3.0.4+dfsg-1build3) ...
Setting up libopencv-imgcodecs4.2:arm64 (4.2.0+dfsg-5) ...
Setting up ros-foxy-cv-bridge (2.2.1-1focal.20220209.144047) ...
Processing triggers for libc-bin (2.31-0ubuntu9.9) ...
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executing command [sudo -H apt-get install -y ros-foxy-image-transport]
Reading package lists... Done
Building dependency tree     
Reading state information... Done
The following additional packages will be installed:
  ros-foxy-ament-cmake-gmock ros-foxy-ament-cmake-gtest ros-foxy-ament-cmake-pytest
  ros-foxy-ament-cmake-ros ros-foxy-ament-index-cpp ros-foxy-class-loader
  ros-foxy-console-bridge-vendor ros-foxy-domain-coordinator ros-foxy-fastrtps
  ros-foxy-fastrtps-cmake-module ros-foxy-foonathan-memory-vendor ros-foxy-gmock-vendor
  ros-foxy-gtest-vendor ros-foxy-libstatistics-collector ros-foxy-libyaml-vendor
  ros-foxy-message-filters ros-foxy-pluginlib ros-foxy-rcl ros-foxy-rcl-interfaces
  ros-foxy-rcl-logging-spdlog ros-foxy-rcl-yaml-param-parser ros-foxy-rclcpp
  ros-foxy-rmw-dds-common ros-foxy-rmw-fastrtps-cpp ros-foxy-rmw-fastrtps-shared-cpp
  ros-foxy-rmw-implementation ros-foxy-rmw-implementation-cmake ros-foxy-rosgraph-msgs
  ros-foxy-rosidl-typesupport-fastrtps-c ros-foxy-rosidl-typesupport-fastrtps-cpp
  ros-foxy-spdlog-vendor ros-foxy-statistics-msgs ros-foxy-tinyxml2-vendor ros-foxy-tracetools
The following NEW packages will be installed:
  ros-foxy-ament-cmake-gmock ros-foxy-ament-cmake-gtest ros-foxy-ament-cmake-pytest
  ros-foxy-ament-cmake-ros ros-foxy-ament-index-cpp ros-foxy-class-loader
  ros-foxy-console-bridge-vendor ros-foxy-domain-coordinator ros-foxy-fastrtps
  ros-foxy-fastrtps-cmake-module ros-foxy-foonathan-memory-vendor ros-foxy-gmock-vendor
  ros-foxy-gtest-vendor ros-foxy-image-transport ros-foxy-libstatistics-collector
  ros-foxy-libyaml-vendor ros-foxy-message-filters ros-foxy-pluginlib ros-foxy-rcl
  ros-foxy-rcl-interfaces ros-foxy-rcl-logging-spdlog ros-foxy-rcl-yaml-param-parser
  ros-foxy-rclcpp ros-foxy-rmw-dds-common ros-foxy-rmw-fastrtps-cpp
  ros-foxy-rmw-fastrtps-shared-cpp ros-foxy-rmw-implementation ros-foxy-rmw-implementation-cmake
  ros-foxy-rosgraph-msgs ros-foxy-rosidl-typesupport-fastrtps-c
  ros-foxy-rosidl-typesupport-fastrtps-cpp ros-foxy-spdlog-vendor ros-foxy-statistics-msgs
  ros-foxy-tinyxml2-vendor ros-foxy-tracetools
0 upgraded, 35 newly installed, 0 to remove and 14 not upgraded.
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#All required rosdeps installed successfully
jetson_dev@jetson-dev-desktop:~/ros2_ws$ . ~/ros2_foxy/install/local_setup.bash
jetson_dev@jetson-dev-desktop:~/ros2_ws$ colcon build
Starting >>> realsense2_camera_msgs
[Processing: realsense2_camera_msgs]                             
Finished <<< realsense2_camera_msgs [58.8s]                      
Starting >>> realsense2_camera
Starting >>> realsense2_description                  
Finished <<< realsense2_description [10.6s]                                                      
--- stderr: realsense2_camera                                
CMake Error at CMakeLists.txt:92 (find_package):
  By not providing "Findcv_bridge.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "cv_bridge", but CMake did not find one.

  Could not find a package configuration file provided by "cv_bridge" with
  any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
  "cv_bridge_DIR" to a directory containing one of the above files.  If
  "cv_bridge" provides a separate development package or SDK, be sure it has
  been installed.

---
Failed   <<< realsense2_camera [13.2s, exited with code 1]

Summary: 2 packages finished [1min 14s]
  1 package failed: realsense2_camera
  1 package had stderr output: realsense2_camera
jetson_dev@jetson-dev-desktop:~/ros2_ws$ dpkg -l | grep cv-bridge
ii  ros-foxy-cv-bridge                              2.2.1-1focal.20220209.144047        arm64

Thank you for all your support so far, you've been a great deal of help!

Edit: I've been doing some more research, and this appears to be a problem that is specific to Nvidia Jetson devices. As seen here:

ros-perception/vision_opencv#345

The fix that is proposed there has not worked for me, but I believe the issues must be closely related. I'll update if I find a fix!

MartyG-RealSense commented 2 years ago

Hi @LiquidTurtle1 You are very welcome! Thanks very much for the information about the Jetson-related OpenCV issue. Good luck!

RNorlie commented 2 years ago

Hi @MartyG-RealSense, I have made some progress, and I think my build was successful, but I just wanted to verify with you, since I'm having trouble launching the node.

I solved my previous issue by running export CMAKE_PREFIX_PATH=/opt/ros/foxy/share

From here, the build finishes cleanly,

jetson_dev@jetson-dev-desktop:~$ cd ros2_ws
jetson_dev@jetson-dev-desktop:~/ros2_ws$ . ~/ros2_foxy/install/local_setup.bash
jetson_dev@jetson-dev-desktop:~/ros2_ws$ colcon build
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [8.11s]                  
Starting >>> realsense2_camera
Starting >>> realsense2_description          
Finished <<< realsense2_description [1.72s]                                                                  
Finished <<< realsense2_camera [3.62s]                   

Summary: 3 packages finished [12.8s]

However, once I try to launch the node, I receive this error:

jetson_dev@jetson-dev-desktop:~/ros2_ws$ cd
jetson_dev@jetson-dev-desktop:~$ ROS_DISTRO=foxy
jetson_dev@jetson-dev-desktop:~$ source /home/jetson_dev/ros2_foxy/install/setup.bash
jetson_dev@jetson-dev-desktop:~$ cd ~/ros2_ws
jetson_dev@jetson-dev-desktop:~/ros2_ws$ . install/local_setup.bash
jetson_dev@jetson-dev-desktop:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below /home/jetson_dev/.ros/log/2022-06-09-08-55-11-347481-jetson-dev-desktop-7123
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [7125]
[realsense2_camera_node-1] terminate called after throwing an instance of 'class_loader::LibraryLoadException'
[realsense2_camera_node-1]   what():  Could not load library LoadLibrary error: libcv_bridge.so: cannot open shared object file: No such file or directory, at /home/jetson_dev/ros2_foxy/src/ros2/rcutils/src/shared_library.c:84
[ERROR] [realsense2_camera_node-1]: process has died [pid 7125, exit code -6, cmd '/home/jetson_dev/ros2_ws/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node --ros-args --log-level info --ros-args -r __node:=camera -r __ns:=/camera --params-file /tmp/launch_params_5uji98sj'].
jetson_dev@jetson-dev-desktop:~/ros2_ws$

This appears to be more of a ROS issue than a RealSense problem. From my research, I may need to install a previous version of OpenCV, or redirect rosdep one more time.

If you have any idea or suggestions for this issue, that would be great. If not, I am comfortable closing the issue, as my original problem has been solved.

Thanks again for your assistance!

MartyG-RealSense commented 2 years ago

In a couple of non-librealsense ROS cases that had the libcv_bridge.so: cannot open shared object file error, they suggested checking that there was a defined LD_LIBRARY_PATH environment variable.

https://stackoverflow.com/questions/40071541/python-import-error-cannot-open-shared-object-file

RNorlie commented 2 years ago

In a couple of non-librealsense ROS cases that had the libcv_bridge.so: cannot open shared object file error, they suggested checking that there was a defined LD_LIBRARY_PATH environment variable.

https://stackoverflow.com/questions/40071541/python-import-error-cannot-open-shared-object-file

This seems like a valuable resource, but I'm not sure I totally understand what this does.

I entered LD_LIBRARY_PATH=/opt/ros/foxy/share in case this was the same issue that cmake was having, and this was my new output:

jetson_dev@jetson-dev-desktop:~/ros2_ws$ ros2 launch realsense2_camera rs_launch.py
[INFO] [launch]: All log files can be found below /home/jetson_dev/.ros/log/2022-06-09-10-21-11-017917-jetson-dev-desktop-7894
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [realsense2_camera_node-1]: process started with pid [7896]
[realsense2_camera_node-1] terminate called after throwing an instance of 'class_loader::LibraryLoadException'
[realsense2_camera_node-1]   what():  Could not load library LoadLibrary error: librealsense2_camera.so: cannot open shared object file: No such file or directory, at /home/jetson_dev/ros2_foxy/src/ros2/rcutils/src/shared_library.c:84
[ERROR] [realsense2_camera_node-1]: process has died [pid 7896, exit code -6, cmd '/home/jetson_dev/ros2_ws/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node --ros-args --log-level info --ros-args -r __node:=camera -r __ns:=/camera --params-file /tmp/launch_params_d2wkxvzq'].

Searching for librealsense2_camera.so which is located in /usr/local/lib

As expected, when I close my current terminal, and restart the process in a new one, it starts looking for libcv_bridge.so again.

Do you think you'd be able to explain what they are doing in the post you linked so that I might be able to apply it myself? Apologies for my ignorance, I'm having a little trouble figuring it out on my own.

MartyG-RealSense commented 2 years ago

I researched your question carefully but was not able to find a reference that was clear enough for me to be confident in sharing.

One theory offered about this problem is that if a new version of OpenCV has been installed then it may be causing a conflict with the OpenCV version that is installed by ROS. So it was suggested to remove all OpenCV versions from the computer and use the version that is installed when ROS is installed.

RNorlie commented 2 years ago

@MartyG-RealSense I discovered my error! Not following directions!

Instead of sourcing the proper directory, as instructed in the Wrapper Installation Guide, source /opt/ros/$ROS_DISTRO/setup.bash

I used source /home/jetson_dev/ros2_foxy/install/setup.bash. Apologies for the silly mistake.

Everything runs fine now, thank you for the assistance!

MartyG-RealSense commented 2 years ago

It's no trouble at all. It's great to hear that you found the solution. :)

tsadarsh commented 1 year ago

Hi I am having the same problem. I am trying to run realsense2_camera in Jetson Nano. I am running the node inside a docker container whose lsb_release -a outputs:

Distributor ID: Ubuntu
Description:    Ubuntu 18.04.6 LTS
Release:    18.04
Codename:   bionic

echo $ROS-DISTRO outputs:

foxy

Your fix :

I solved my previous issue by running export CMAKE_PREFIX_PATH=/opt/ros/foxy/share

doesn't work for me as there is no /opt/ros/foxy/share dir in my case. ls /dev/opt/ros/foxy outputs:

build  install  log  ros2.foxy.ros_base.rosinstall  src

colcon build gives the following error:

Starting >>> realsense2_camera
--- stderr: realsense2_camera                         
CMake Error at CMakeLists.txt:96 (find_package):
  By not providing "Findcv_bridge.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "cv_bridge", but CMake did not find one.

  Could not find a package configuration file provided by "cv_bridge" with
  any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set
  "cv_bridge_DIR" to a directory containing one of the above files.  If
  "cv_bridge" provides a separate development package or SDK, be sure it has
  been installed.

---
Failed   <<< realsense2_camera [4.31s, exited with code 1]

Summary: 0 packages finished [6.04s]
  1 package failed: realsense2_camera
  1 package had stderr output: realsense2_camera