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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
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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 1 year ago

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

mjshiggins commented 1 year ago

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

swapnesh-wani-nvidia commented 1 year 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