Error in doing ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py

[bchoineubility]

Hi,

I installed isacc ros2 humble to jetson xavier Ubuntu-20.;04, then, I tried to test with quick guide for testing it.

By the way, I encountered such error. it would be vvpi version problem. I use jetpac 5.1 now. If this error will be version problem, how can I test it with jetpack-5.1.

dmin@linkxavier-desktop:/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/2023-12-04-14-55-04-106567-linkxavier-desktop-130753
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [130764]
[component_container_mt-1] [INFO] [1701669304.910403855] [apriltag_container]: Load Library: /opt/ros/humble/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1701669304.935665282] [apriltag_container]: Failed to load library: Could not load library dlopen error: /opt/nvidia/vpi2/lib64/libnvvpi.so.2: version `VPI_2.3' not found (required by /opt/ros/humble/lib/libisaac_ros_nitros_image_type.so), at /tmp/binarydeb/ros-humble-rcutils-5.1.3/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: /opt/nvidia/vpi2/lib64/libnvvpi.so.2: version `VPI_2.3' not found (required by /opt/ros/humble/lib/libisaac_ros_nitros_image_type.so), at /tmp/binarydeb/ros-humble-rcutils-5.1.3/src/shared_library.c:99

BR, Mark

[ashwinvkNV]

Can you post the logs for all steps in the quickstart guide? @hemalshahNV for viz.

[swapnesh-wani-nvidia]

Could you provide the full jetpack version with the logs.? The latest Isaac ROS release is for JP 5.1.2.

[bchoineubility]

Could you provide the full jetpack version with the logs.? The latest Isaac ROS release is for JP 5.1.2.

Hi @swapnesh-wani-nvidia ,

Here is jetpack version and other system information that I set up.

bchoi@bchoi-MINIPC-PN53:~/work/nitros_setup$ . 02_final_verification.sh

###### INFO JETPACK VERSION #####
# R35 (release), REVISION: 2.1, GCID: 32413640, BOARD: t186ref, EABI: aarch64, DATE: Tue Jan 24 23:38:33 UTC 2023

###### INFO SSD #####
[sudo] password for linkxavier: /dev/nvme0n1: UUID="e768073f-e25f-4926-a10b-26fdfed09d6f" TYPE="ext4"

Filesystem       Size  Used Avail Use% Mounted on
/dev/mmcblk0p1    28G   25G  1.2G  96% /
none              16G     0   16G   0% /dev
tmpfs             16G   52K   16G   1% /dev/shm
tmpfs            3.1G   28M  3.1G   1% /run
tmpfs            5.0M  4.0K  5.0M   1% /run/lock
tmpfs             16G     0   16G   0% /sys/fs/cgroup
/dev/loop0       159M  159M     0 100% /snap/chromium/2705
/dev/loop2        69M   69M     0 100% /snap/core22/861
/dev/loop1        60M   60M     0 100% /snap/core20/1977
/dev/loop5       335M  335M     0 100% /snap/gnome-3-38-2004/145
/dev/loop4       335M  335M     0 100% /snap/gnome-3-38-2004/141
/dev/loop6        65M   65M     0 100% /snap/cups/975
/dev/loop3        65M   65M     0 100% /snap/cups/981
/dev/loop7       465M  465M     0 100% /snap/gnome-42-2204/122
/dev/loop8       476M  476M     0 100% /snap/gnome-42-2204/143
/dev/loop9       128K  128K     0 100% /snap/bare/5
/dev/loop10       36M   36M     0 100% /snap/snapd/20102
/dev/loop11       36M   36M     0 100% /snap/snapd/20298
/dev/loop12      159M  159M     0 100% /snap/chromium/2696
/dev/loop13       60M   60M     0 100% /snap/core20/2019
/dev/loop14       69M   69M     0 100% /snap/core22/867
/dev/loop15       92M   92M     0 100% /snap/gtk-common-themes/1535
/dev/nvme0n1     229G   19G  199G   9% /media/link
/dev/mmcblk0p40   63M   75K   63M   1% /opt/nvidia/esp
tmpfs            3.1G   16K  3.1G   1% /run/user/124
tmpfs            3.1G  8.0K  3.1G   1% /run/user/1000

##### INFO DOCKER #####
{
    "data-root": "/media/link/docker",
    "default-runtime": "nvidia",
    "default-shm-size": "1G",
    "default-ulimits": {
        "memlock": {
            "hard": -1,
            "name": "memlock",
            "soft": -1
        },
        "stack": {
            "hard": 67108864,
            "name": "stack",
            "soft": 67108864
        }
    },
    "log-driver": "json-file",
    "log-opts": {
        "tag": "{{.ImageName}}|{{.Name}}"
    },
    "runtimes": {
        "nvidia": {
            "path": "/usr/bin/nvidia-container-runtime",
            "runtimeArgs": []
        }
    }
}
 Docker Root Dir: /media/link/docker

total 36
drwxrwxrwx  2 linkxavier linkxavier  4096 Aug  8 15:05 data
drwx--x--- 12 root       root        4096 Mar 28  2023 docker
drwxrwxrwx 46 linkxavier linkxavier  4096 Dec  5 09:29 log
drwxrwxrwx  2 root       root       16384 Aug  8 15:05 lost+found
drwxrwxrwx  5 linkxavier linkxavier  4096 Mar 28  2023 ros2_record
drwxrwxr-x  3 linkxavier linkxavier  4096 Dec  5 13:14 workspaces

[sudo] password for linkxavier: 34G     /media/link
34G     total

bchoi@bchoi-MINIPC-PN53:~/work/nitros_setup$

BR, Mark

[bchoineubility]

Can you post the logs for all steps in the quickstart guide? @hemalshahNV for viz.

Hi @ashwinvkNV

I attached setup scripts I am using. I setup xavier with ssh connection. setup_scripts.zip

After run those scripts, I tried to run as following step.

1. In the first terminal,

   cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
   ./scripts/run_dev.sh
   admin@linkxavier-desktop:/workspaces/isaac_ros-dev$ sudo apt-get install -y ros-humble-isaac-ros-apriltag
   admin@linkxavier-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py

BR, Mark

[bchoineubility]

Hi,

Any update for this issue?

[jaiveersinghNV]

Hi @bchoineubility ,

It appears that you are running an older version of JetPack (likely 5.1.0) that comes with Jetson Linux R35.2.1.

The current version of Isaac ROS requires JetPack 5.1.2 with Jetson Linux R35.4.1.

Could you please update or reflash your Jetson to get the latest version of JetPack and try again?

[bchoineubility]

Hi @jaiveersinghNV

OK, I understand isaac ros doesn't support older version of JetPack.