how to use "apt install ros-humble-*" on ros humble docker

[snmsung716]

Hi I am using jetson agx orin 64gb and a docker image which has ros2 humble desktop.

Then I tried to type apt install ros-humble-gazabo-dev but got an error unable to use ros-humble-gazebo-dev.

So I typed apt list and found ros-humble doesn't exist on the list. It has only two ros-versions, galitic and rolling inside the list.

In this case, should I do "build from source" to get some ros-humble-repos?

Thank you for reading this issue.

[dusty-nv]

Hi @snmsung716, ROS Humble only has apt/deb packages available for Ubuntu 22.04 (which will be coming in JetPack 6), but on JetPack 5 / 20.04 you would build from source. AGX Orin can build ros desktop in like an hour though, so not too bad.

One thing you can do, is mount a directory for your ROS2 workspace, and build the additional packages you want from source, while running ros:humble-desktop container.

You could also write your own Dockerfile which used ros:humble-desktop as base container, and rosinstall_generator to pull the sources of the packages you want: https://github.com/dusty-nv/jetson-containers/blob/47aa733d9a1c21b08e9333a627718f98d733539c/packages/ros/ros2_build.sh#L79

Or you can just add the packages you want right there and re-build ros:humble-desktop. The downside of this, is if there are errors related to a package you added, you'll have to go through the full build again.

[omerts]

@dusty-nv Even with Jetpack 6.0, apt install is failing (made sure to run sudo apt update && ros dep update before):

#0 732.6 You might want to run 'apt --fix-broken install' to correct these.
#0 732.6 The following packages have unmet dependencies:
#0 732.8  libopencv-viz-dev : Depends: libopencv-core-dev (= 4.5.4+dfsg-9ubuntu4) but it is not going to be installed
#0 732.8  ros-humble-ament-cmake-cppcheck : Depends: ros-humble-ament-cppcheck but it is not going to be installed
#0 732.8  ros-humble-cv-bridge : Depends: libopencv-dev but it is not going to be installed
#0 732.8 E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
#0 733.1 Reading package lists...
#0 736.7 Building dependency tree...
#0 737.3 Reading state information...
#0 737.3 You might want to run 'apt --fix-broken install' to correct these.
#0 737.3 The following packages have unmet dependencies:
#0 737.5  libopencv-viz-dev : Depends: libopencv-core-dev (= 4.5.4+dfsg-9ubuntu4) but it is not going to be installed
#0 737.6  ros-humble-cv-bridge : Depends: libopencv-dev but it is not going to be installed
#0 737.6  ros-humble-pcl-ros : Depends: libpcl-dev but it is not going to be installed
#0 737.6                       Depends: ros-humble-pcl-conversions but it is not going to be installed
#0 737.6 E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
#0 737.8 Reading package lists...
#0 741.5 Building dependency tree...
#0 742.1 Reading state information...
#0 742.2 You might want to run 'apt --fix-broken install' to correct these.
#0 742.2 The following packages have unmet dependencies:
#0 742.4  libopencv-viz-dev : Depends: libopencv-core-dev (= 4.5.4+dfsg-9ubuntu4) but it is not going to be installed
#0 742.4  ros-humble-camera-info-manager : Depends: ros-humble-camera-calibration-parsers but it is not going to be installed
#0 742.4  ros-humble-cv-bridge : Depends: libopencv-dev but it is not going to be installed
#0 742.4 E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
#0 742.7 Reading package lists...
#0 746.2 Building dependency tree...
#0 746.7 Reading state information...
#0 746.8 You might want to run 'apt --fix-broken install' to correct these.
#0 746.8 The following packages have unmet dependencies:
#0 746.9  libopencv-viz-dev : Depends: libopencv-core-dev (= 4.5.4+dfsg-9ubuntu4) but it is not going to be installed
#0 747.0  ros-humble-cv-bridge : Depends: libopencv-dev but it is not going to be installed
#0 747.0  ros-humble-image-geometry : Depends: libopencv-dev but it is not going to be installed
#0 747.0 E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution).
#0 774.5 ERROR: the following rosdeps failed to install
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-bringup] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-util] failed
#0 774.5   apt: command [apt-get install -y ros-humble-xacro] failed
#0 774.5   apt: command [apt-get install -y ros-humble-imu-tools] failed
#0 774.5   apt: command [apt-get install -y ros-humble-tf-transformations] failed
#0 774.5   apt: command [apt-get install -y ros-humble-tf2-ros] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-copyright] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-flake8] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-pep257] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-cmake] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rclcpp] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rclcpp-components] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rcutils] failed
#0 774.5   apt: command [apt-get install -y ros-humble-cv-bridge] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-cmake-pytest] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-lint-auto] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-lint-common] failed
#0 774.5   apt: command [apt-get install -y ros-humble-launch] failed
#0 774.5   apt: command [apt-get install -y ros-humble-launch-testing] failed
#0 774.5   apt: command [apt-get install -y ros-humble-launch-testing-ros] failed
#0 774.5   apt: command [apt-get install -y ros-humble-launch-testing-ament-cmake] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rmw-implementation-cmake] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rclcpp-action] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rclcpp-lifecycle] failed
#0 774.5   apt: command [apt-get install -y ros-humble-visualization-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-geometry-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-builtin-interfaces] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-costmap-2d] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-core] failed
#0 774.5   apt: command [apt-get install -y ros-humble-pluginlib] failed
#0 774.5   apt: command [apt-get install -y ros-humble-std-srvs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-action-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rosidl-default-runtime] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rosidl-default-generators] failed
#0 774.5   apt: command [apt-get install -y ros-humble-tf2] failed
#0 774.5   apt: command [apt-get install -y ros-humble-tf2-geometry-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-common] failed
#0 774.5   apt: command [apt-get install -y ros-humble-nav2-behavior-tree] failed
#0 774.5   apt: command [apt-get install -y ros-humble-rosidl-adapter] failed
#0 774.5   apt: command [apt-get install -y python3-smbus] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-cmake-auto] failed
#0 774.5   apt: command [apt-get install -y python3-tornado] failed
#0 774.5   apt: Failed to detect successful installation of [ros-humble-nav2-bringup]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-xacro]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-imu-tools]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-tf-transformations]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-flake8]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-pep257]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-cv-bridge]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-lint-auto]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-lint-common]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-launch-testing-ros]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-nav2-costmap-2d]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-nav2-core]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-nav2-behavior-tree]
#0 774.5   apt: Failed to detect successful installation of [python3-smbus]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-cmake-auto]
#0 774.5   apt: command [apt-get install -y ros-humble-apriltag-msgs] failed
#0 774.5   apt: command [apt-get install -y ros-humble-apriltag] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-cmake-clang-format] failed
#0 774.5   apt: command [apt-get install -y ros-humble-ament-cmake-cppcheck] failed
#0 774.5   apt: command [apt-get install -y ros-humble-pcl-ros] failed
#0 774.5   apt: command [apt-get install -y ros-humble-camera-info-manager] failed
#0 774.5   apt: command [apt-get install -y ros-humble-image-geometry] failed
#0 774.5   apt: Failed to detect successful installation of [ros-humble-apriltag-msgs]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-apriltag]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-cmake-clang-format]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-ament-cmake-cppcheck]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-pcl-ros]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-camera-info-manager]
#0 774.5   apt: Failed to detect successful installation of [ros-humble-image-geometry]

I don't know if it is also related, but also getting the following errors:

/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libGLX_indirect.so.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvargus.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvbuf_fdmap.so.1.0.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libVkLayer_json_gen.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvbufsurface.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvdsbufferpool.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libvulkansc.so.1.0.10 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvpvaintf.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvisp.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvrm_mem.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvddk_vic.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libv4l2_nvcuvidvideocodec.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvoggopus.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvphsd.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvtvmr_2d.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvphs.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscibuf.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmmlite.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvos.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-glvkspirv.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvosd.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvplayfair.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libv4l2_nvvideocodec.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libcuda.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvomx.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_il.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libgstnvdsseimeta.so.1.0.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvtracebuf.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvdsbufferpool.so.1.0.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvcam_imageencoder.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-ml.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvfnetstoredefog.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-tls.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-nvvm.so.4 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmm.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-vksc-core.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvcapture.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia_iep_sci.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvcamerautils.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvvideoencode_ppe.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-vksc-core.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscicommon.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-rtcore.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_force.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvv4lconvert.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvparser.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia_eglstream.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvcolorutil.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_gpucompute.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvcamlog.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvrm_stream.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-vksc-core.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvdecode2eglimage.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libgstnvcustomhelper.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-ptxjitcompiler.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_spincircle.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-allocator.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-eglcore.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscistream.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnveglstreamproducer.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libsensors_hal.nvs.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmm_parser.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-ptxjitcompiler.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvexif.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvpvaumd.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libjetsonpower.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvtegrahv.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscicommon.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvtvmr.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libvulkansc.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedialdc.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_boot.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia_isp_ext.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-egl-wayland.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvargus_socketserver.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvbufsurface.so.1.0.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscistream.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-glcore.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvscf.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvbufsurftransform.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvvideo.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvisp_utils.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia_ide_parser.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvgov_generic.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvvic.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvrm_gpu.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvmedia_ijpe_sci.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libvulkansc.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-egl-gbm.so.1.1.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libnvidia-gpucomp.so.540.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/libtegrav4l2.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libilmCommon.so.2.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libilmClient.so.2.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libilmControl.so.2.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libweston-6.so.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libweston-desktop-6.so.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/nvidia/weston/libilmInput.so.2.2.0 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnveglglessink.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvvideosink.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvvideo4linux2.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnveglstreamsrc.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvcompositor.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvvidconv.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvvideosinks.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvv4l2camerasrc.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvjpeg.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvtee.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvivafilter.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvdrmvideosink.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvegltransform.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvarguscamerasrc.so is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/tegra-egl/ld.so.conf is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/tegra-egl/libGLESv2_nvidia.so.2 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/tegra-egl/libGLESv1_CM_nvidia.so.1 is empty, not checked.
/sbin/ldconfig.real: File /usr/lib/aarch64-linux-gnu/tegra-egl/libEGL_nvidia.so.0 is empty, not checked.

This is our dockerfile:

ARG NVIDIA_IMAGE=dustynv/ros:humble-ros-base-l4t-r36.2.0
ARG ROS_DISTRO=humble
ARG OVERLAY_WS=/opt/ros/nakai

FROM $NVIDIA_IMAGE AS deps_installer

WORKDIR /opt

COPY ./deploy/pylon /tmp/deploy/pylon

RUN apt-get update \
 && apt-get install -qq -y --no-install-recommends \
    build-essential \
    cmake \
    git \
    libssl-dev \
    libusb-1.0-0-dev \
    pkg-config \
    libgtk-3-dev \
    libglfw3-dev \
    libgl1-mesa-dev \
    libglu1-mesa-dev \    
    curl \
    python3 \
    python3-dev \
    python3-pip \
    libpq-dev \
    ca-certificates \
    desktop-file-utils \
    /tmp/deploy/pylon/*.deb \
 && rm -rf /var/lib/apt/lists/*

RUN rm -rf /tmp/deploy/pylon

RUN sudo -H pip3 install -U jetson-stats==4.2.3 SQLAlchemy psycopg2 Jetson.GPIO

FROM deps_installer as builder

ARG OVERLAY_WS

WORKDIR ${OVERLAY_WS}

COPY ./src ${OVERLAY_WS}/src

RUN pip3 install -e ./src/nakai_common 

# Install ROS2 deps
RUN apt-get update && \ 
    rosdep update && \
    rosdep install -r -y --from-paths src --ignore-src \
    && rm -rf /var/lib/apt/lists/*

RUN source ${ROS_ROOT}/install/setup.bash && \
    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip-build-finished 
    # Add --merge-install after this is more stable

RUN mkdir -p /opt/ros/nakai/db

# Source entrypoint setup
ENV OVERLAY_WS ${OVERLAY_WS}

COPY ./deploy/ros_entrypoint.sh /

[dusty-nv]

@omerts I think the issue may be related to mix-and-matching the 'apt install' method and the 'from source' method. After which command in the dockerfile does You might want to run 'apt --fix-broken install' to correct these. start appearing?

You probably don't even need to use my ROS container as base, since you can just install the whole thing from apt now.

[omerts]

@dusty-nv Thank you for the quick reply :). I will try and update. Is there any special handling for being able to use opencv with cuda?