Unable to build from source since PR #3125

[b-adkins]

Required Info
Camera Model	N/A
Firmware Version	N/A
Operating System & Version	Linux (Ubuntu 22)
Kernel Version (Linux Only)	6.5.0-35-generic
Platform	NUC
Librealsense SDK Version	2.55.1-1jammy.20240516.151706
Language	C++
Segment	Robot
ROS Distro	Humble
RealSense ROS Wrapper Version	ec8ef1

Issue Description

In summary, some C++ types related to calibration are not found by the build system, and I believe that this commit has introduced a new dependency that needs to be either properly documented or registered for rosdep.

I experienced this error with the HEAD of ros2-development, 68473b at time of reporting, d30980f8 (when PR #3125 was merged), and ec8ef1 ("support calib config read/write services"), but not the previous commit, d1684b.

$ git log --graph --decorate --pretty=oneline --abbrev-commit
*   68473bd8 (HEAD -> ros2-development, origin/ros2-development, origin/HEAD) PR #3130 from SamerKhshiboun: Install specific numpy version to avoid errors in github actions
|\  
| * 732409b6 Update main.yml
|/  
*   d30980f8 PR #3125 from SamerKhshiboun: Support calibration config read/write services
|\  
| * ec8ef109 support calib config read/write services
|/  
* d1684b4e Update README.md

I am working with an existing codebase that builds the realsense ROS2 node from scratch. I followed the instructions to install realsense-ros for Ubuntu 22.02 via apt, using the ros-humble-librealsense2*.

$ dpkg -l | grep ros-humble-librealsense2
ii  ros-humble-librealsense2                          2.55.1-1jammy.20240516.151706           amd64        Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices.
ii  ros-humble-librealsense2-dbgsym                   2.55.1-1jammy.20240516.151706           amd64        debug symbols for ros-humble-librealsense2

The full error log:

$ colcon build --base-paths src/realsense-ros/
Starting >>> realsense2_camera_msgs
Finished <<< realsense2_camera_msgs [1.47s]                     
Starting >>> realsense2_camera
Starting >>> realsense2_description
Finished <<< realsense2_description [0.22s]                           
--- stderr: realsense2_camera                             
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::CalibConfigReadService(realsense2_camera_msgs::srv::CalibConfigRead_Request_<std::allocator<void> >::SharedPtr, realsense2_camera_msgs::srv::CalibConfigRead_Response_<std::allocator<void> >::SharedPtr)’:
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:545:9: error: ‘rs2_calibration_config’ was not declared in this scope; did you mean ‘rs2_calibration_type’?
  545 |         rs2_calibration_config calib_config = _dev.as<rs2::auto_calibrated_device>().get_calibration_config();
      |         ^~~~~~~~~~~~~~~~~~~~~~
      |         rs2_calibration_type
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:546:68: error: ‘class rs2::auto_calibrated_device’ has no member named ‘calibration_config_to_json_string’
  546 |         res->calib_config = _dev.as<rs2::auto_calibrated_device>().calibration_config_to_json_string(calib_config);
      |                                                                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:546:102: error: ‘calib_config’ was not declared in this scope
  546 | onfig = _dev.as<rs2::auto_calibrated_device>().calibration_config_to_json_string(calib_config);
      |                                                                                  ^~~~~~~~~~~~

/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::CalibConfigWriteService(realsense2_camera_msgs::srv::CalibConfigWrite_Request_<std::allocator<void> >::SharedPtr, realsense2_camera_msgs::srv::CalibConfigWrite_Response_<std::allocator<void> >::SharedPtr)’:
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:560:9: error: ‘rs2_calibration_config’ was not declared in this scope; did you mean ‘rs2_calibration_type’?
  560 |         rs2_calibration_config calib_config = _dev.as<rs2::auto_calibrated_device>().json_string_to_calibration_config(req->calib_config);
      |         ^~~~~~~~~~~~~~~~~~~~~~
      |         rs2_calibration_type
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:561:48: error: ‘class rs2::auto_calibrated_device’ has no member named ‘set_calibration_config’; did you mean ‘set_calibration_table’?
  561 |         _dev.as<rs2::auto_calibrated_device>().set_calibration_config(calib_config);
      |                                                ^~~~~~~~~~~~~~~~~~~~~~
      |                                                set_calibration_table
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:561:71: error: ‘calib_config’ was not declared in this scope
  561 |         _dev.as<rs2::auto_calibrated_device>().set_calibration_config(calib_config);
      |                                                                       ^~~~~~~~~~~~
/home/p0/ros2_thirdparty/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:556:121: warning: unused parameter ‘req’ [-Wunused-parameter]
  556 | figWriteService(const realsense2_camera_msgs::srv::CalibConfigWrite::Request::SharedPtr req,
      |                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~

gmake[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:118: CMakeFiles/realsense2_camera.dir/src/rs_node_setup.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:159: CMakeFiles/realsense2_camera.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< realsense2_camera [7.37s, exited with code 2]

Summary: 2 packages finished [9.02s]
  1 package failed: realsense2_camera
  1 package had stderr output: realsense2_camera

[annb3]

I have the same problem in Humble both in 20.04 and in 22.04 Ubuntu versions.

[MartyG-RealSense]

Thanks very much for the reports. I have highlighted it to my Intel RealSense colleagues.

[MartyG-RealSense]

My colleagues responded that the ros2-development ROS wrapper now needs the development branch of librealsense rather than the master due to recent changes in the API.

https://github.com/IntelRealSense/librealsense/tree/development

[annb3]

I am already into the development branch :( @MartyG-RealSense I try to do additional verifications.

[annb3]

@MartyG-RealSense I try to uninstall and install again everything. Nothing changes. Same problem also with Jetson installation, linked only to Debian modality.

[SamerKhshiboun]

Hi @annb3, Are you sure you fetched and pulled latest changes from development ?

Make sure you are cloning the latest: git clone https://github.com/IntelRealSense/librealsense -b "development" or run

git fetch origin
git pull

and make sure to rebuild again (if you are running your private fork, make sure to merge from upstream and rebuild)

These are the latest commits from today that you should see in your git log

[annb3]

Yes, I am sure :) @SamerKhshiboun I have uninstall and install again everything also to be sure enough. Is there a way to be sure to have eliminate all the dependencies? I have done everything found online..

[SamerKhshiboun]

can you screenshot your git log output ?

[annb3]

Of course: here it is!

[SamerKhshiboun]

please run these 2 commands and screenshot the outputs:

dpkg -l | grep realsense ldconfig -p | grep realsense

[annb3]

[SamerKhshiboun]

As I see you have multiple librealsense2 version that were manually installed. What I suggest is to run sudo make uninstall from each ../librealsense/build directory you have. Or you can remove these files manually. Make sure to have the latest (2.56) only

[SamerKhshiboun]

then please retry colcon build your ROS2 workspace.

[annb3]

I don't have the builds anymore, as I have already run this command before.. so strange. Do you suggest to eliminate this file directly from /usr/local/lib/libreaslsense*?

[SamerKhshiboun]

I would go for that.

[annb3]

Nothing is solved. Same issue.

[SamerKhshiboun]

can you please run these commands and print the output ?

source /opt/ros/humble/setup.bash
cd <your_ros_workspace>
rm -rf log/ install/ build/
colcon build

[annb3]

Here the errors

[SamerKhshiboun]

did you install the newest code like this ?

cd librealsense
mkdir build
cmake ..
make -j 4
sudo make install

[annb3]

I have followed the guidelines: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md switching into the development branch.

[SamerKhshiboun]

please print the output of this command from your ros working space: grep '2\.5' ./build/realsense2_camera/CMakeFiles/realsense2_camera.dir/build.make

[SamerKhshiboun]

I'm still pretty sure that the current version that the ROS finds (even if it says 2.56) is not the latest compiled one. Please retry to make install and sudo make install latest code of development

[annb3]

I am actually working on a docker environment and by default it doesn't take the version 2.56 of the pc but every time install again the 2.55 from the dipendencies of the realsense-ros package how can I fix it?

[SamerKhshiboun]

try edit the realsense-ros/realsense2_camera/CMakeLists.txt

change the numbers to 2.56.0

find_package(realsense2 2.56.0) find_package(realsense2-gl 2.56.0)

then try to rebuild again with these steps:

source /opt/ros/humble/setup.bash
cd <your_ros_workspace>
rm -rf log/ install/ build/
colcon build
source ./install/setup.bash

[annb3]

no way :( It continues installing the 2.55 version

[SamerKhshiboun]

You need the latest librealsense2/development branch to be available inside the docker. You can do this in two different ways I think:

• expose the installed librealsense2.56 to the docker (might required advanced docker commands and understanding..)
• run the docker, and reinstall (make + make install) librealsense2/development from source inside it, then rerun colcon build.

[annb3]

yes, already done way 2, this morning, without apparently success. I'll try again in some hours.

[SamerKhshiboun]

Anyway, I will submit a PR for updating the CMakeLists.txt to 2.56.0 since the realsense2_camera node needs the latest development branch [2.56] (which can be built only manually for now, because it is still not formally released to ROS apt)

[jerinbenny]

Cloning these 2 repositories for sdk and wrapper and following the documentation,I got the no errors. librealsense sdk: git clone https://github.com/IntelRealSense/librealsense -b "development" ros2 wrapper : git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development

[annb3]

The problem is that into the docker environment I encountered several problems in installing from build. The same in the Jetson. Is it possible to do it from Debian packages specifying the development installation of the librealsense2? I think it is the real problem.

[SamerKhshiboun]

There is still no formal release as Debian from our side to librealsense2 2.56 (the latest one we released into ROS apt is 2.55.1) You can work with earlier realsense-ros/ros2-development if you want, which can work with librealsense2 2.55.

cd realsense-ros
git checkout d1684b4e53111f5eb3237f76299e83a864ce929d
cd <your_ros_ws>
colcon build

[SamerKhshiboun]

or you can use the latest realsense2_camera released (4.55.1) from ROS apts sudo apt install sudo apt install ros-humble-realsense2-camera this way you don't need to colcon/build source code.

[annb3]

Ok, I am backed before this PR, waiting for the stable one in Debian. Thanks a lot for the support @SamerKhshiboun.

[MartyG-RealSense]

Hi @annb3 Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.