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NVIDIA-ISAAC-ROS / isaac_ros_apriltag

NVIDIA-accelerated Apriltag detection and pose estimation.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
107 stars 19 forks source link

Fails to run on Jetpack 5.1.2 / Xavier NX #38

Open mjshiggins opened 1 year ago

mjshiggins commented 1 year ago

This package will build within the isaac_ros_common container on a freshly flashed Xavier NX with all Deepstream and libraries installed through the SDK manager, but will not run due to a libcupva linking issue. This is likely related to this discussion and this issue. NVIDIA should work to isolate docker images / containers from the host platform as much as possible.

Error on run:

admin@leonardo:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-09-13-17-19-08-355659-leonardo-221427
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [221450]
[component_container_mt-1] [INFO] [1694639950.965111504] [apriltag_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_apriltag/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1694639950.999343527] [apriltag_container]: Failed to load library: Could not load library dlopen error: libcupva_host.so.2.3: cannot open shared object file: No such file or directory, at /opt/ros/humble/src/rcutils/src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error: libcupva_host.so.2.3: cannot open shared object file: No such file or directory, at /opt/ros/humble/src/rcutils/src/shared_library.c:99
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1694639958.103195520] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container_mt-1]: process has finished cleanly [pid 221450]
swapnesh-wani-nvidia commented 12 months ago

Thanks for reaching out. We are aware of this problem and this will be fixed soon in the coming release.

mjshiggins commented 11 months ago

Any updates or timelines here @swapnesh-wani-nvidia ?

swapnesh-wani-nvidia commented 10 months ago

Hello, could you try the new release of Isaac ROS? https://nvidia-isaac-ros.github.io/releases/index.html#isaac-ros-2-0-0-october-18-2023