Failed to import pyrealsense2

[IamShubhamGupto]

Based on our discussion in #279 I am trying to build my own docker image with ros2 iron pytorch2 and realsense.

The command

./build.sh --name nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1 \
pytorch:2.0 ros:iron-desktop realsense torch2trt torch_tensorrt torchvision numba numpy onnx cupy

The error

Removing intermediate container 107458e0d1af
 ---> 74d72dc429c6
Step 6/6 : RUN python3 -c 'import pyrealsense2'
 ---> Running in 3a6b598bdcce
Traceback (most recent call last):
  File "<string>", line 1, in <module>
ModuleNotFoundError: No module named 'pyrealsense2'
The command '/bin/bash -c python3 -c 'import pyrealsense2'' returned a non-zero code: 1
Traceback (most recent call last):
  File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/home/ultraviolet/Downloads/jetson-containers/jetson_containers/build.py", line 95, in <module>
    build_container([args.name](http://args.name/), args.packages, args.base, args.build_flags, args.simulate, args.skip_tests, args.test_only, args.push)
  File "/home/ultraviolet/Downloads/jetson-containers/jetson_containers/container.py", line 128, in build_container
    status = subprocess.run(cmd.replace(NEWLINE, ' '), executable='/bin/bash', shell=True, check=True)  
  File "/usr/lib/python3.8/subprocess.py", line 516, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command 'docker build --network=host --tag nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-realsense --file /home/ultraviolet/Downloads/jetson-containers/packages/realsense/Dockerfile --build-arg BASE_IMAGE=nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-ros_iron-desktop /home/ultraviolet/Downloads/jetson-containers/packages/realsense 2>&1 | tee /home/ultraviolet/Downloads/jetson-containers/logs/20230906_151420/build/nyuultraviolet_ros2-iron-pytorch2-realsense_r35.3.1-r35.3.1-realsense.txt; exit ${PIPESTATUS[0]}' returned non-zero exit status 1.

Device Jetson Orin

[IamShubhamGupto]

UPDATE

Using the sources ive built realsense before on docker, I updated the docker file to the following

#---
# name: realsense
# group: sensors
# depends: [python, cmake]
# test: test.py
# notes: https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
#---
ARG BASE_IMAGE
FROM ${BASE_IMAGE}

RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          libssl-dev \
          libusb-1.0-0-dev \
            libgtk-3-dev \
            libglfw3-dev \
          libgl1-mesa-dev \
          libglu1-mesa-dev \
          qtcreator && \
    if [ $(lsb_release -cs) = "bionic" ]; then \
        apt-get install -y --no-install-recommends python-dev; \
    else \
        apt-get install -y --no-install-recommends python2-dev; \
    fi \
    && rm -rf /var/lib/apt/lists/* \
    && apt-get clean

# https://github.com/IntelRealSense/librealsense/issues/11931
ARG LIBREALSENSE_VERSION=development

RUN git clone --branch ${LIBREALSENSE_VERSION} --depth=1 https://github.com/IntelRealSense/librealsense && \
    cd librealsense && \
    mkdir build && \
    cd build && \
    cmake \
        -DBUILD_EXAMPLES=true \
       -DFORCE_RSUSB_BACKEND=true \
       -DBUILD_WITH_CUDA=true \
       -DCMAKE_BUILD_TYPE=release \
       -DBUILD_PYTHON_BINDINGS=bool:true \
       -DPYTHON_EXECUTABLE=/usr/bin/python3 \
       -DPYTHON_INSTALL_DIR=$(python3 -c 'import sys; print(f"/usr/lib/python{sys.version_info.major}.{sys.version_info.minor}/")') \
       ../ && \
    make -j$(($(nproc)-1)) && \
    make install && \
    cd ../ && \
    cp ./config/99-realsense-libusb.rules /etc/udev/rules.d/ && \
    mkdir /usr/lib/python3.8/pyrealsense2 && \
    ln -s ./build/wrappers/python/pybackend2.cpython-38-$(uname -m)-linux-gnu.so /usr/lib/python3.8/pyrealsense2/ && \
    ln -s ./build/wrappers/python/pyrealsense2.cpython-38-$(uname -m)-linux-gnu.so /usr/lib/python3.8/pyrealsense2/ && \
    rm -rf librealsense

RUN echo 'PYTHONPATH="/usr/lib/python3.8/pyrealsense2:$PYTHONPATH"' >> ~/.bashrc && \
    echo 'export PYTHONPATH' >> ~/.bashrc 
RUN source ~/.bashrc 
RUN /lib/systemd/systemd-udevd --daemon && udevadm control --reload-rules && \
    udevadm trigger
RUN python3 -c 'import pyrealsense2'

The above Dockerfile solved the import issue but I now seem to be getting stuck at something very basic

Step 8/9 : RUN /lib/systemd/systemd-udevd --daemon && udevadm control --reload-rules &&     udevadm trigger
 ---> Running in 5db2d5b4a8ee
Starting version 245.4-4ubuntu3.22
Removing intermediate container 5db2d5b4a8ee
 ---> 62b11ef2c1c2
Step 9/9 : RUN python3 -c 'import pyrealsense2'
 ---> Running in 8c27eee15bc5
Removing intermediate container 8c27eee15bc5
 ---> b07177a66ab7
Successfully built b07177a66ab7
Successfully tagged nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-realsense
-- Testing container nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-realsense (realsense/test.py)

docker run -t --rm --runtime=nvidia --network=host \
--volume /home/ultraviolet/Downloads/jetson-containers/packages/realsense:/test \
--volume /home/ultraviolet/Downloads/jetson-containers/data:/data \
--workdir /test \
nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-realsense \
/bin/bash -c 'python3 test.py' \
2>&1 | tee /home/ultraviolet/Downloads/jetson-containers/logs/20230906_200511/test/nyuultraviolet_ros2-iron-pytorch2-realsense_r35.3.1-r35.3.1-realsense_test.py.txt; exit ${PIPESTATUS[0]}

sourcing   /opt/ros/iron/install/setup.bash
ROS_DISTRO iron
ROS_ROOT   /opt/ros/iron
testing pyrealsense2...
Traceback (most recent call last):
  File "test.py", line 5, in <module>
    print('pyrealsense2 version:', rs.__version__)
AttributeError: module 'pyrealsense2' has no attribute '__version__'
Traceback (most recent call last):
  File "/usr/lib/python3.8/runpy.py", line 194, in _run_module_as_main
    return _run_code(code, main_globals, None,
  File "/usr/lib/python3.8/runpy.py", line 87, in _run_code
    exec(code, run_globals)
  File "/home/ultraviolet/Downloads/jetson-containers/jetson_containers/build.py", line 95, in <module>
    build_container(args.name, args.packages, args.base, args.build_flags, args.simulate, args.skip_tests, args.test_only, args.push)
  File "/home/ultraviolet/Downloads/jetson-containers/jetson_containers/container.py", line 135, in build_container
    test_container(container_name, pkg, simulate)
  File "/home/ultraviolet/Downloads/jetson-containers/jetson_containers/container.py", line 307, in test_container
    status = subprocess.run(cmd.replace(_NEWLINE_, ' '), executable='/bin/bash', shell=True, check=True)
  File "/usr/lib/python3.8/subprocess.py", line 516, in run
    raise CalledProcessError(retcode, process.args,
subprocess.CalledProcessError: Command 'docker run -t --rm --runtime=nvidia --network=host --volume /home/ultraviolet/Downloads/jetson-containers/packages/realsense:/test --volume /home/ultraviolet/Downloads/jetson-containers/data:/data --workdir /test nyuultraviolet/ros2-iron-pytorch2-realsense:r35.3.1-r35.3.1-realsense /bin/bash -c 'python3 test.py' 2>&1 | tee /home/ultraviolet/Downloads/jetson-containers/logs/20230906_200511/test/nyuultraviolet_ros2-iron-pytorch2-realsense_r35.3.1-r35.3.1-realsense_test.py.txt; exit ${PIPESTATUS[0]}' returned non-zero exit status 1.

Thanks

[IamShubhamGupto]

Hey @dusty-nv

Please do check out this issue and let me know if you need any more information

[IamShubhamGupto]

could not figure out how to fit it as for pyrealsense2 module, did an additional pip install pyrealsense2 which adds pipeline() and other functions. The module is usable and real sense-viewer also works

[Mattzi]

Still having the same issue and just a simple pip install pyrealsense2 in the docker file does not help. Anybody has an idea?

[mzahana]

I am having the same issue. My command is:

./build.sh --name=noetic_realsense pytorch realsense ros:noetic-desktop

Any possible fix? @dusty-nv @IamShubhamGupto

Thanks.

[mzahana]

I found a related issue [here}(https://github.com/IntelRealSense/librealsense/issues/5790). It seems that pyrealsense2 has no attribute __version__. After commenting this line

https://github.com/dusty-nv/jetson-containers/blob/cb6c847f88df221e705397a1ee98424c2e893243/packages/realsense/test.py#L5

AND Adding

RUN pip install pyrealsense2

before this line https://github.com/dusty-nv/jetson-containers/blob/cb6c847f88df221e705397a1ee98424c2e893243/packages/realsense/Dockerfile#L51

The docker building process went fine.

[IamShubhamGupto]

I found a related issue [here}(https://github.com/[IntelRealSense/librealsense/issues/5790](https://github.com/IntelRealSense/librealsense/issues/5790)). It seems that pyrealsense2 has no attribute __version__. After commenting this line

https://github.com/dusty-nv/jetson-containers/blob/cb6c847f88df221e705397a1ee98424c2e893243/packages/realsense/test.py#L5

AND Adding

RUN pip install pyrealsense2

before this line

https://github.com/dusty-nv/jetson-containers/blob/cb6c847f88df221e705397a1ee98424c2e893243/packages/realsense/Dockerfile#L51

The docker building process went fine.

I ran into this issue again while building an image for JP6 DP. I think it is unresolved and possibly deserves a PR @dusty-nv

my command:

./build.sh --name=test/ros2-iron-pytorch:r36 pytorch:2.1 tensorrt onnx onnxruntime  ros:iron-desktop realsense

[IamShubhamGupto]

@dusty-nv heres a Dockerfile I am using to build realsense. It builds the library and the ros2 wrapper (humble). I think both should be supplied in the same docker file unless we are trying to save space

ARG BASE_IMAGE=nyuultraviolet/cv-dockerfile:jp60-pytorch21-humble-tensorrt

FROM ${BASE_IMAGE}

RUN apt-get install -y --no-install-recommends \
    python3 \
    python3-pip \
    python3-dev && apt-get update && apt-get clean all

RUN apt-get update && \
    apt-get install -y --no-install-recommends \
          libssl-dev \
          libusb-1.0-0-dev \
            libgtk-3-dev \
            libglfw3-dev \
          libgl1-mesa-dev \
          libglu1-mesa-dev \
          udev \
          qtcreator && \
    rm -rf /var/lib/apt/lists/* \
    && apt-get clean

# https://github.com/IntelRealSense/librealsense/issues/11931
ARG LIBREALSENSE_VERSION=development

RUN git clone --branch ${LIBREALSENSE_VERSION} --depth=1 https://github.com/IntelRealSense/librealsense && \
    cd librealsense && \
    mkdir build && \
    cd build && \
    cmake \
        -DBUILD_EXAMPLES=true \
       -DFORCE_RSUSB_BACKEND=true \
       -DBUILD_WITH_CUDA=true \
       -DCMAKE_BUILD_TYPE=release \
       -DBUILD_PYTHON_BINDINGS=bool:true \
       -DPYTHON_EXECUTABLE=/usr/bin/python3 \
       ../ && \
    make -j$(($(nproc)-1)) && \
    make install && \
    cd ../ && \
    cp -r . /usr/local/ && \
    cp ./config/99-realsense-libusb.rules /etc/udev/rules.d/ && \
    cp ./config/99-realsense-d4xx-mipi-dfu.rules /etc/udev/rules.d/ && \
    rm -rf librealsense

ENV PYTHONPATH=${PYTHONPATH}:/usr/local/lib

ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update \
 && apt-get install -y --no-install-recommends \    
    libusb-1.0-0 \
    udev \
    apt-transport-https \
    ca-certificates \
    curl \
    software-properties-common \
 && rm -rf /var/lib/apt/lists/*

# The following steps are based on: https://github.com/IntelRealSense/realsense-ros/tree/ros2-development
ENV WS_DIR="/ros2_ws"
WORKDIR ${WS_DIR}
RUN apt-get update -y \
 && mkdir src \
 && cd src \
 && git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development \
 && cd .. \
 && apt-get install -y python3-rosdep \
 && source /opt/ros/${ROS_DISTRO}/install/setup.bash \
 && rm /etc/ros/rosdep/sources.list.d/20-default.list \
 && rosdep init \
 && rosdep update \
 && rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} --skip-keys=librealsense2 -y \
 && source /opt/ros/${ROS_DISTRO}/setup.bash \
 && colcon build

RUN source ./install/local_setup.sh
RUN cd

ENV DEBIAN_FRONTEND=dialog

CMD ["/bin/bash"]