Build error. Jetson Nano 4G with Melodic. Jetpack 4.6

[onthesofa]

Installed ensenso-sdk-3.5.1394-arm64.deb which works (at about 0.6 fps) then cloned the ros_driver and ran catkin_make. This error:

...catkin_ws_ensenso/src/ros_driver/ensenso_camera/include/ensenso_camera/ros2/ensenso_msgs/image_point.h:8:10: fatal error: ensenso_camera_msgs/ImagePoint.h: No such file or directory

include "ensenso_camera_msgs/ImagePoint.h"

      ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Sure enough ImagePoint.h doesn't exist anywhere on the system.

[benthie]

Hi @onthesofa,

since you only mentioned that you cloned the ros_driver and ran catkin_make, I can't tell if you are an experienced ROS user or new to ROS, so let me ask: have you

• tested your ROS Melodic setup with other packages, are they working?
• installed the ROS dependencies for our ros_driver?

We stopped supporting Melodic a few months ago with the EOL of Ubuntu 18.04. At that point the latest Ensenso SDK we tested with Melodic was 3.4.743. You could try this version as an alternative.

[benthie]

Here is how I usually create a new workspace folder containing our ros_driver:

source /opt/ros/melodic/setup.bash

mkdir -p ~/cws/src
cd ~/cws/src
git clone https://github.com/ensenso/ros_driver.git

cd ~/cws
rosdep install -i --from-path src --rosdistro melodic -y
catkin build

# Source the local_setup.sh script (in devel or install folder?)

[onthesofa]

Hi @benthie

It's a good question. I have a fair amount or experience with ROS (mostly traumatic!). I have other packages installed and running. During the first attempts to install ros_driver there were many package dependencies not found, but one-by-one I installed them and now we are at the compilation stage. You can see from the error I posted that the error comes from 'ensenso_camera/ros2/ensenso_msgs/image_point.h' being unable to include "ensenso_camera_msgs/ImagePoint.h". I think the package contains both ROS and ROS2 together and something is confused.

i.e.

ifdef ROS2

include "ensenso_camera_msgs/msg/image_point.hpp"

[onthesofa]

I just saw your previous post - I will try that. Thanks.

[onthesofa]

Hi @benthie

This is the result:

harper@nano-4G-4:~/cws$ catkin build

Profile: default Extending: [env] /home/harper/catkin_ws/devel:/opt/ros/melodic Workspace: /home/harper/cws

Build Space: [exists] /home/harper/cws/build Devel Space: [exists] /home/harper/cws/devel Install Space: [unused] /home/harper/cws/install Log Space: [missing] /home/harper/cws/logs Source Space: [exists] /home/harper/cws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '5' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 8.1 seconds ]
Starting >>> ensenso_camera_msgs
Starting >>> ensenso_description
Finished <<< ensenso_description [ 9.0 seconds ]
Finished <<< ensenso_camera_msgs [ 1 minute and 41.9 seconds ] Starting >>> ensenso_camera

---

Errors << ensenso_camera:make /home/harper/cws/logs/ensenso_camera/build.make.000.log make[2]: No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0', needed by '/home/harper/cws/devel/.private/ensenso_camera/lib/ensenso_camera/ensenso_camera_mono_node'. Stop. make[2]: Waiting for unfinished jobs.... make[2]: No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0', needed by '/home/harper/cws/devel/.private/ensenso_camera/lib/ensenso_camera/texture_point_cloud'. Stop. make[2]: Waiting for unfinished jobs.... make[2]: No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0', needed by '/home/harper/cws/devel/.private/ensenso_camera/lib/ensenso_camera/ensenso_camera_node'. Stop. make[2]: Waiting for unfinished jobs.... make[1]: [CMakeFiles/ensenso_camera_node.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... make[1]: [CMakeFiles/ensenso_camera_mono_node.dir/all] Error 2 make[1]: [CMakeFiles/texture_point_cloud.dir/all] Error 2 make[2]: No rule to make target '/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.3.2.0', needed by '/home/harper/cws/devel/.private/ensenso_camera/lib/libensenso_camera_nodelet.so'. Stop. make[2]: Waiting for unfinished jobs.... make[1]: [CMakeFiles/ensenso_camera_nodelet.dir/all] Error 2 make: [all] Error 2 cd /home/harper/cws/build/ensenso_camera; catkin build --get-env ensenso_camera | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Failed << ensenso_camera:make [ Exited with code 2 ]
Failed <<< ensenso_camera [ 3 minutes and 59.3 seconds ] Abandoned <<< ensenso_camera_test [ Unrelated job failed ]
[build] Summary: 3 of 5 packages succeeded.
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 5 minutes and 50.2 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them. harper@nano-4G-4:~/cws$

[benthie]

Okay. It looks like now you are just missing the OpenCV package. Please try installing it with:

sudo apt-get -y install libopencv-dev python3-opencv

[benthie]

And if you are then still missing some transformation packages, please try installing them with:

sudo apt-get -y install ros-${ROS_DISTRO}-tf-transformations
sudo pip3 install transforms3d

[onthesofa]

Thank @benthie

The OpenCV install was enough.

harper@nano-4G-4:~/cws$ catkin build

Profile: default Extending: [cached] /home/harper/catkin_ws/devel:/opt/ros/melodic Workspace: /home/harper/cws

Build Space: [exists] /home/harper/cws/build Devel Space: [exists] /home/harper/cws/devel Install Space: [unused] /home/harper/cws/install Log Space: [exists] /home/harper/cws/logs Source Space: [exists] /home/harper/cws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '5' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> ensenso_camera_msgs
Starting >>> ensenso_description
Finished <<< ensenso_description [ 0.7 seconds ]
Finished <<< ensenso_camera_msgs [ 10.5 seconds ]
Starting >>> ensenso_camera
Finished <<< ensenso_camera [ 16.1 seconds ]
Starting >>> ensenso_camera_test
Finished <<< ensenso_camera_test [ 11.5 seconds ]
[build] Summary: All 4 packages succeeded!
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 38.5 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

[benthie]

I am glad to hear that. We will update our installation documentation accordingly ;)