Error during colcon building of "isaac_ros_image_proc"

[MaxBertus]

Hi everyone,

I'm trying to build the package _isaac_ros_imageproc through colcon, inside the docker container of _isaac_roscommon on Jetson Nano.

I have installed CUDA 12.0 and vpi2 (2.1.6) following with these guides (cuda and vpi).

I obtain the following error:

/usr/bin/ld: warning: libnvsocsys.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvvic.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvrm_mem.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvrm_host1x.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvrm_surface.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvpvaintf.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libnvscibuf.so, needed by /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaQueueDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaContextDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramStatusQuery'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemAlloc'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvOsDebugPrintStr'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicInitResult'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFSTImageRegister'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramSetDMADescriptors'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaQueueCreateCUDAWrapper'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaSetVPUPrintBufferSize'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFAGetVersion'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramSetDMAChannels'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicClose'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemFillNvSciBufAttrs'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaExecutableGetSymbolMemHandleTable'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemImportFromHostPtr'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaContextCreateCUDAWrapper'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemImportFromNvSciBuf'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicGeotrans'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicCompose'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `NvSciBufAttrListGetAttrs'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaFenceFillFromNvSciSyncFence'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFAProcessFrame'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaQueueSubmitV2'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicOpen'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramCreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaSyncObjDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaFenceSynchronizeWithConfig'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFAInit'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFADestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaGetCharacteristics'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicUnpin'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvTegraSysDeInit'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaNvSciSyncFenceFillFromPvaFence'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFAImageRegister'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramSetHWSequencerBin'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicGetDefaultAttributes'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemGetHostPtr'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemImportFromCudaDevicePtr'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFSTImageUnRegister'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicPin'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaFillNvSciSyncAttrList'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaSyncObjImportFromNvSciSync'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFAImageUnRegister'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaFenceGetTimeStamp'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicGetCapabilities'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaIOFACreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaContextCreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvTegraSysGetChipId'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvMediaLDCCreateNew'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaReadVPUPrintBuffer'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaMemDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaExecutableCreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvTegraSysInit'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramSetPointerValue'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicInitGeotransParameters'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaExecutableDestroy'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaQueueCreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `NvSciBufObjGetAttrList'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaSyncObjCreate'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramInitDMAParams'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/libnvvpi.so.2.1.6: undefined reference to `NvVicInitComposeParameters'
/usr/bin/ld: /opt/nvidia/vpi2/lib/aarch64-linux-gnu/priv/libcupva_host.so.2.0: undefined reference to `PvaProgramSetParameterValue'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/isaac_ros_image_proc.dir/build.make:297: isaac_ros_image_proc] Error 1
make[1]: *** [CMakeFiles/Makefile2:255: CMakeFiles/isaac_ros_image_proc.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

Could you please suggest me any solution?

[hemalshahNV]

Isaac ROS is not officially supported on a Jetson Nano (only supports up to Jetpack 4.x, need Jetpck 5.0.2 for latest Isaac ROS packages) and not tested on CUDA 12 yet. What version of Jetpack are you running here, by the way?

[MaxBertus]

Thank you for your answer! I'm running native Jetpack 4.6.3 [L4T 32.7.3]. So, could you please tell me how can I run the complete "isaac_ros_apriltag" pipeline with Jetson Nano? Which branch/commit have I to refer to?

[hemalshahNV]

The latest Isaac ROS release does not support Jetson Nano nor Jetpack 4.6.3. However, you could try an older release such as EA3 which might work on Jetson Nano.

[MaxBertus]

Ok, I will try! Thank you very much

[ikhann]

@MaxBertus Did you solve the issue? Please, could you help? I have the same errors.