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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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JetsonPack6 Ros Humble Opencv 4.8 #3203

Open djaniel opened 6 days ago

djaniel commented 6 days ago

Hello, I have been facing a weird issue, here is my setup:

Required Info
Camera Model D435i
Firmware Version 5.16.0.1
Operating System & Version Ubuntu 22, JetsonPack 6.0
Kernel Version (Linux Only) 5.15.136-rt-tegra
Platform NVIDIA Jetson Orin Nano
Librealsense SDK Version 2.56.1?
Language opencv
Segment Robot
ROS Distro Humble
RealSense ROS Wrapper Version 4.55.1, 4.56.1 FORCE_LIBUVC=true

Issue Description

I am working with the Jetson Nano Orin, JetsonPack 6. When I try to build from source the realsense-ros wrapper I get a weird message error:

Starting >>> realsense2_camera
--- stderr: realsense2_camera                         
CMake Error at /usr/lib/cmake/opencv4/OpenCVModules.cmake:172 (message):
  The imported target "opencv_core" references the file

     "/usr/lib/libopencv_core.so.4.8.0"

  but this file does not exist.  Possible reasons include:

  * The file was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and contained

     "/usr/lib/cmake/opencv4/OpenCVModules.cmake"

  but not all the files it references.

Call Stack (most recent call first):
  /usr/lib/cmake/opencv4/OpenCVConfig.cmake:126 (include)
  /opt/ros/humble/share/cv_bridge/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /opt/ros/humble/share/cv_bridge/cmake/cv_bridgeConfig.cmake:41 (include)
  CMakeLists.txt:107 (find_package)

---
Failed   <<< realsense2_camera [0.57s, exited with code 1]

I get a sense that something is wrong with my installation. I did some validations:

$ pkg-config --modversion realsense2
2.55.1

Then, opencv shows weird numbers:

$dpkg -l | grep opencv
ii  libopencv-calib3d4.5d:arm64                        4.5.4+dfsg-9ubuntu4                               arm64        computer vision Camera Calibration library
ii  libopencv-contrib4.5d:arm64                        4.5.4+dfsg-9ubuntu4                               arm64        computer vision contrlib library
ii  libopencv-core4.5d:arm64                           4.5.4+dfsg-9ubuntu4                               arm64        computer vision core library
ii  libopencv-dev                                      4.8.0-1-g6371ee1                                  arm64        Open Computer Vision Library
ii  libopencv-dnn4.5d:arm64                            4.5.4+dfsg-9ubuntu4                               arm64        computer vision Deep neural network module
ii  libopencv-features2d4.5d:arm64                     4.5.4+dfsg-9ubuntu4                               arm64        computer vision Feature Detection and Descriptor Extraction library
ii  libopencv-flann4.5d:arm64                          4.5.4+dfsg-9ubuntu4                               arm64        computer vision Clustering and Search in Multi-Dimensional spaces library
ii  libopencv-highgui4.5d:arm64                        4.5.4+dfsg-9ubuntu4                               arm64        computer vision High-level GUI and Media I/O library
ii  libopencv-imgcodecs4.5d:arm64                      4.5.4+dfsg-9ubuntu4                               arm64        computer vision Image Codecs library
ii  libopencv-imgproc4.5d:arm64                        4.5.4+dfsg-9ubuntu4                               arm64        computer vision Image Processing library
ii  libopencv-ml4.5d:arm64                             4.5.4+dfsg-9ubuntu4                               arm64        computer vision Machine Learning library
ii  libopencv-objdetect4.5d:arm64                      4.5.4+dfsg-9ubuntu4                               arm64        computer vision Object Detection library
ii  libopencv-photo4.5d:arm64                          4.5.4+dfsg-9ubuntu4                               arm64        computer vision computational photography library
ii  libopencv-shape4.5d:arm64                          4.5.4+dfsg-9ubuntu4                               arm64        computer vision shape descriptors and matchers library
ii  libopencv-stitching4.5d:arm64                      4.5.4+dfsg-9ubuntu4                               arm64        computer vision image stitching library
ii  libopencv-video4.5d:arm64                          4.5.4+dfsg-9ubuntu4                               arm64        computer vision Video analysis library
ii  libopencv-videoio4.5d:arm64                        4.5.4+dfsg-9ubuntu4                               arm64        computer vision Video I/O library
ii  libopencv-viz4.5d:arm64                            4.5.4+dfsg-9ubuntu4                               arm64        computer vision 3D data visualization library
ii  python3-opencv:arm64                               4.5.4+dfsg-9ubuntu4                               arm64        Python 3 bindings for the computer vision library
ii  ros-humble-vision-opencv                           3.2.1-1jammy.20240731.052303                      arm64        Packages for interfacing ROS2 with OpenCV, a library of programming functions for real time computer vision.

libcore-dev shows v4.8.0, but the rest of the components are all 4.5.4. Weird. I reinstalled Ros-humble and the inconsistency remains. On my workstation they are all V 4.5.x

Do you have any idea what is going on? Any comment would be greatly appreciated. Thanks,

MartyG-RealSense commented 6 days ago

Hi @djaniel I see that you used the libuvc backend installation method to install the librealsense SDK. This method typically works well with Jetson, especially with cameras like D435i that have an IMU.

A RealSense user at https://github.com/IntelRealSense/librealsense/issues/13326 who had problems when using Humble and JetPack 6 last week (though did not have the same problem as you) commented that their problems were resolved if they compiled librealsense from source code with the libuvc backend installation method using the build script at the link below.

https://github.com/IntelRealSense/librealsense/blob/master/doc/libuvc_installation.md

You also mention that you installed the ROS wrapper from source. Was that with the colcon build method in the wrapper's source code installation instructions in Step 3 at the link below?

https://github.com/IntelRealSense/realsense-ros?tab=readme-ov-file#installation-on-ubuntu

If you have used this method, you could try deleting the entire /ros2_ws catkin workspace folder to uninstall the wrapper and then attempt a source code build of the wrapper with colcon again to see if the errors continue.