search

microsoft / Azure_Kinect_ROS_Driver

A ROS sensor driver for the Azure Kinect Developer Kit.
MIT License
302 stars 223 forks source link

Nvidia Jetson Xavier NX: catkin_make causing error: undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)' #193

Open vinesmsuic opened 3 years ago

vinesmsuic commented 3 years ago

Describe the bug I tried to install ros driver on 2 Nvidia Jetson Xavier NX machines but both yield the same error when executing catkin_make.

To Reproduce Steps to reproduce the behavior:

  1. Configure Microsoft's Package Repository and install k4atools 
    curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/multiarch/prod
sudo apt-get update
sudo apt install k4a-tools
sudo apt install libk4a1.4-dev
  2. Inital the workspace 
    mkdir -p ~/AzureKinect_ws/src
cd ~/AzureKinect_ws/src
catkin_init_workspace
  3. git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
cd ~/AzureKinect_ws
catkin_make
  4. See error

Expected behavior successful catkin_make

Logs

robocon@robocon-desktop:~/AzureKinect_ws$ catkin_make
Base path: /home/robocon/AzureKinect_ws
Source space: /home/robocon/AzureKinect_ws/src
Build space: /home/robocon/AzureKinect_ws/build
Devel space: /home/robocon/AzureKinect_ws/devel
Install space: /home/robocon/AzureKinect_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/robocon/AzureKinect_ws/build"
####
####
#### Running command: "make -j6 -l6" in "/home/robocon/AzureKinect_ws/build"
####
[ 10%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_nodelet.dir/src/k4a_ros_bridge_nodelet.cpp.o
[ 20%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/src/k4a_ros_device.cpp.o
[ 30%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_nodelet.dir/src/k4a_ros_device.cpp.o
[ 40%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_nodelet.dir/src/k4a_ros_device_params.cpp.o
[ 50%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/src/k4a_ros_bridge_node.cpp.o
[ 60%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/src/k4a_ros_device_params.cpp.o
[ 70%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_nodelet.dir/src/k4a_calibration_transform_data.cpp.o
[ 80%] Building CXX object Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/src/k4a_calibration_transform_data.cpp.o
[ 90%] Linking CXX executable /home/robocon/AzureKinect_ws/devel/lib/azure_kinect_ros_driver/node
[100%] Linking CXX shared library /home/robocon/AzureKinect_ws/devel/lib/libazure_kinect_ros_driver_nodelet.so
[100%] Built target azure_kinect_ros_driver_nodelet
CMakeFiles/azure_kinect_ros_driver_node.dir/src/k4a_ros_device.cpp.o: In function `cv::Mat::Mat(int, int, int, void*, unsigned long)':
k4a_ros_device.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x150): undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)'
k4a_ros_device.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x244): undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)'
k4a_ros_device.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x2cc): undefined reference to `cv::Mat::updateContinuityFlag()'
collect2: error: ld returned 1 exit status
Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/build.make:214: recipe for target '/home/robocon/AzureKinect_ws/devel/lib/azure_kinect_ros_driver/node' failed
make[2]: *** [/home/robocon/AzureKinect_ws/devel/lib/azure_kinect_ros_driver/node] Error 1
CMakeFiles/Makefile2:519: recipe for target 'Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/all' failed
make[1]: *** [Azure_Kinect_ROS_Driver/CMakeFiles/azure_kinect_ros_driver_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j6 -l6" failed

Desktop (please complete the following information): Device: Nvidia Jetson Xavier NX, Azure Kinect OS: Ubuntu 18.04 ROS Version: ROS Melodic K4A SDK Version: 1.4.0

Additional context Tried on two Nvidia Jetson Xavier NX devices, both yield the same error. It seems to be a linker issue of OpenCV but I have no clue how to fix it.

ooeygui commented 3 years ago

Thank you for reporting. Jetpack includes a different version of OpenCV than ROS Melodic traditionally expects, which causes some issues when building projects that traditionally target Melodic. To support this scenario, the code needs to be updated to detect the OpenCV version difference - not just the distro difference.

Pull requests to fix this issue are appreciated.

vinesmsuic commented 3 years ago

In case people encountered the same problem as me, I found a hack to solve this error.

add an extra vision_opencv package in src folder then catkin_make again

git clone https://github.com/MartinNievas/vision_opencv.git
cd vision_opencv/ 
git checkout compile_oCV4
cd ../
cd ../
catkin_make
ooeygui commented 3 years ago

@vinesmsuic Thank you for following up and posting the workaround!