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NVIDIA-ISAAC-ROS / isaac_ros_visual_slam

Visual SLAM/odometry package based on NVIDIA-accelerated cuVSLAM
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
819 stars 127 forks source link

it won't build on Jetson JP4.6.1 but for isaac common script #24

Closed AndreV84 closed 1 year ago

AndreV84 commented 2 years ago 
-- stderr: isaac_ros_nvengine                                                                                                
/usr/bin/ld:/workspaces/isaac_ros-dev/isaac_ros_nvengine/gxf/lib/gxf_jetpack46_1/core/libgxf_core.so: file format not recognized; treating as linker script
/usr/bin/ld:/workspaces/isaac_ros-dev/isaac_ros_nvengine/gxf/lib/gxf_jetpack46_1/core/libgxf_core.so:1: syntax error
collect2: error: ld returned 1 exit status
make[2]: *** [libgxe_node.so] Error 1
make[1]: *** [CMakeFiles/gxe_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< isaac_ros_nvengine [22.3s, exited with code 2]

after performing the isaac common image script I added src then cloned the repository; then executed colcon build it won't work

hemalshahNV commented 2 years ago

Make sure to have git-lfs installed and run git lfs pull​ to download the binaries into place if you did not have it installed before cloning.

From: Andrey Volodin @.> Sent: Thursday, April 21, 2022 3:56 AM To: NVIDIA-ISAAC-ROS/isaac_ros_visual_slam @.> Cc: Subscribed @.***> Subject: [NVIDIA-ISAAC-ROS/isaac_ros_visual_slam] it won't build on Jetson JP4.6.1 but for isaac common script (Issue #24)

-- stderr: isaac_ros_nvengine /usr/bin/ld:/workspaces/isaac_ros-dev/isaac_ros_nvengine/gxf/lib/gxf_jetpack46_1/core/libgxf_core.so: file format not recognized; treating as linker script /usr/bin/ld:/workspaces/isaac_ros-dev/isaac_ros_nvengine/gxf/lib/gxf_jetpack46_1/core/libgxf_core.so:1: syntax error collect2: error: ld returned 1 exit status make[2]: [libgxe_node.so] Error 1 make[1]: [CMakeFiles/gxe_node.dir/all] Error 2 make: *** [all] Error 2

Failed <<< isaac_ros_nvengine [22.3s, exited with code 2]

after performing the isaac common image script I added src then cloned the repository; then executed colcon build it won't work

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AndreV84 commented 2 years ago

@hemalshahNV Thank you for the update. after git lfs pull it seems got build 

Finished <<< isaac_ros_test [5.03s]
Starting >>> isaac_ros_nvengine
Starting >>> isaac_ros_visual_slam               
Finished <<< isaac_ros_nvengine [2.00s]                                                                          
[Processing: isaac_ros_visual_slam]                             
[Processing: isaac_ros_visual_slam]                                     
[Processing: isaac_ros_visual_slam]                                       
[Processing: isaac_ros_visual_slam]                                       
Finished <<< isaac_ros_visual_slam [2min 3s]                             

Summary: 6 packages finished [2min 9s]
  1 package had stderr output: isaac_ros_test

However, how do I run it for zed mini camera? I got to execute every time to run the container scripts/run_dev.sh from ros common isaac?

AndreV84 commented 2 years ago

@hemalshahNV Could you publish the zed launch file, please? Previously ther ewas https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_odometry/blob/main/isaac_ros_visual_odometry/launch/isaac_ros_visual_odometry_zed2.launch.py which is not present. Moreover, could you share launch file for zed [ not zed2 but just zed] Thanks AV

AndreV84 commented 2 years ago

@hemalshahNV lfs pull helped building container from script but therre still seems something missed?


nvidia@nvidia-desktop:~/isaac_ros_common/src/isaac_ros_visual_slam$ git lfs pull
nvidia@nvidia-desktop:~/isaac_ros_common/src/isaac_ros_visual_slam$ cd ..
nvidia@nvidia-desktop:~/isaac_ros_common/src$ cd ..
nvidia@nvidia-desktop:~/isaac_ros_common$ ./scripts/run_dev.sh 
isaac_ros_dev not specified, assuming /home/nvidia/isaac_ros_common
~/isaac_ros_common ~/isaac_ros_common
Attaching to running container: isaac_ros_dev-aarch64-container
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ . /opt/ros/foxy/setup.bash 
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ . install/setup.bash 
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_odometry s isaac_ros_visual_odometry_zed2.launch.py
scripts/ src/     
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_odometry s isaac_ros_visual_odometry_zed2.launch.py
scripts/ src/     
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_odometry s isaac_ros_visual_odometry_zed2.launch.py
scripts/ src/     
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_odometry isaac_ros_visual_odometry_zed2.launch.py
Package 'isaac_ros_visual_odometry' not found: "package 'isaac_ros_visual_odometry' not found, searching: ['/workspaces/isaac_ros-dev/install/isaac_ros_visual_slam', '/workspaces/isaac_ros-dev/install/isaac_ros_visual_slam_interfaces', '/workspaces/isaac_ros-dev/install/isaac_ros_test', '/workspaces/isaac_ros-dev/install/isaac_ros_nvengine', '/workspaces/isaac_ros-dev/install/isaac_ros_nvengine_interfaces', '/workspaces/isaac_ros-dev/install/isaac_ros_common', '/opt/ros/foxy/install']"
admin@nvidia-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_visual_odometry isaac_ros_visual_odometry_zed2.launch.py
hemalshahNV commented 2 years ago

The package has been renamed isaac_ros_visual_slam. Make sure the isaac_ros_visual_odometry package is no longer in your ROS workspace.