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NVIDIA-ISAAC-ROS / isaac_ros_argus_camera

ROS 2 packages based on NVIDIA libArgus library for NVIDIA-accelerated CSI camera support.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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dlopen failed when opening libgxf_argus.so #20

Closed ikhann closed 1 year ago

ikhann commented 1 year ago

Hi,

My System: Jetson Orin NX and IMX219 camera module (Raspberry Camera v2) Ubuntu 20.04 Jetpack 5.1

I attempted to replicate the example provided in the Quickstart guide, but encountered some errors:

admin@tegra-ubuntu:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2023-05-11-14-35-06-531736-tegra-ubuntu-11780
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [11791]
[component_container_mt-1] [INFO] [1683815706.998143565] [argus_mono_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_argus_camera/lib/libmono_node.so
[component_container_mt-1] [INFO] [1683815707.087443605] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1683815707.087597881] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1683815707.093136158] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1683815707.093317187] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1683815707.094419709] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1683815707.099020652] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1683815707.102178744] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1683815707.105510697] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1683815707.110105847] [NitrosContext]: [NitrosContext] Loading application: '/workspaces/isaac_ros-dev/install/isaac_ros_nitros/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1683815707.111268371] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1683815707.113218050] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2023-05-11 14:35:07.113 WARN  gxf/std/program.cpp@456: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1683815707.118107128] [argus_mono]: [NitrosNode] Starting NitrosNode
[component_container_mt-1] [INFO] [1683815707.118160794] [argus_mono]: [NitrosNode] Loading built-in preset extension specs
[component_container_mt-1] [INFO] [1683815707.120922588] [argus_mono]: [NitrosNode] Loading built-in extension specs
[component_container_mt-1] [INFO] [1683815707.120981886] [argus_mono]: [NitrosNode] Loading preset extension specs
[component_container_mt-1] [INFO] [1683815707.121802897] [argus_mono]: [NitrosNode] Loading extension specs
[component_container_mt-1] [INFO] [1683815707.121839346] [argus_mono]: [NitrosNode] Loading generator rules
[component_container_mt-1] [INFO] [1683815707.122156186] [argus_mono]: [NitrosNode] Loading extensions
[component_container_mt-1] [INFO] [1683815707.122751016] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/cuda/libgxf_cuda.so
[component_container_mt-1] [INFO] [1683815707.125498282] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/serialization/libgxf_serialization.so
[component_container_mt-1] [INFO] [1683815707.129580525] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_isaac_messages.so
[component_container_mt-1] [INFO] [1683815707.134171739] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/multimedia/libgxf_multimedia.so
[component_container_mt-1] [INFO] [1683815707.134925678] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/image_proc/libgxf_tensorops.so
[component_container_mt-1] [INFO] [1683815707.139383257] [argus_mono]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [ERROR] [1683815707.152655865] [argus_mono]: [NitrosContext] dlopen failed when opening "/workspaces/isaac_ros-dev/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/libgxf_argus.so": libnvidia-kms.so.35.3.1: cannot open shared object file: No such file or directory
[component_container_mt-1] [ERROR] [1683815707.152752155] [argus_mono]: [NitrosNode] loadExtensions Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1683815707.153733715] [argus_mono]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1683815707.153778548] [argus_mono]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2023-05-11 14:35:07.153 ERROR gxf/std/program.cpp@475: Attempted interrupting when not running (state=0d).
[component_container_mt-1] 2023-05-11 14:35:07.153 ERROR gxf/core/runtime.cpp@1243: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [ERROR] [1683815707.153839605] [argus_mono]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [INFO] [1683815707.153852054] [argus_mono]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1683815707.153872022] [argus_mono]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1683815707.153892183] [argus_mono]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1683815707.154637641] [argus_mono]: [NitrosNode] Application termination done
[component_container_mt-1] [ERROR] [1683815707.158105660] [argus_mono_container]: Component constructor threw an exception: [NitrosNode] loadExtensions Error: GXF_FAILURE
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'argus_mono' of type 'nvidia::isaac_ros::argus::ArgusMonoNode' in container '/argus_mono_container': Component constructor threw an exception: [NitrosNode] loadExtensions Error: GXF_FAILURE

Could you please help me to solve this issue? Thanks in advance.

ikhann commented 1 year ago

I checked if the library is present on my system:

admin@tegra-ubuntu:/workspaces/isaac_ros-dev$ ldconfig -p | grep libnvidia-kms.so
    libnvidia-kms.so.35.2.1 (libc6,AArch64) => /usr/lib/aarch64-linux-gnu/tegra/libnvidia-kms.so.35.2.1
    libnvidia-kms.so (libc6,AArch64) => /usr/lib/aarch64-linux-gnu/tegra/libnvidia-kms.so

So, it looks like I have the older Jetpack version 35.1 instead of 35.1.1.

jaiveersinghNV commented 1 year ago

Yes, as specified in our supported platforms section, we require the latest JetPack 5.1.1 release for Isaac ROS Argus Camera.

Could you try upgrading to the latest version, either by reflashing or by using the steps here, and see if that works for you?