Project - Map My World Robot - Setup for Jetson TX2

[thatting]

I would like to use my Jetson TX2 for the project "Map My World Robot". I have flashed the board and downloaded JetPack 3.1, as instructed at the beginning of Term 2. However, I am unable to install ROS and RTAB, as per instructions for this project (section 12 in the project description). I have followed the instructions step by step, but I encounter errros when I follow these instructions.

To be specific there are two issues during the installation on my Jetson:

1) When I carry out the first step (Install ROS), it runs for about 25 mins. Everything seems ok until it gets towards the end of the installation and gives an error saying "cannot download default source list https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down"

I was not sure what to do at this point, but I carried on as this happened towards the end of installation.

2) When I got to the third step (Install RTAB-MAP), the system halted at 82% giving the error: "recipe for target 'all' failed" and stopped.

I have provided the relevant output from the terminal on my Jetson TX2: . . . Setting up ros-kinetic-gazebo-dev (2.5.14-1xenial-20171221-164251-0800) ... Setting up ros-kinetic-gazebo-plugins (2.5.14-1xenial-20180125-233236-0800) ... Setting up ros-kinetic-gazebo-ros (2.5.14-1xenial-20180126-015737-0800) ... Setting up ros-kinetic-gazebo-ros-pkgs (2.5.14-1xenial-20180126-041209-0800) ... Setting up ros-kinetic-simulators (1.3.1-0xenial-20180221-102826-0800) ... Setting up ros-kinetic-desktop-full (1.3.1-0xenial-20180221-104719-0800) ... Processing triggers for fontconfig (2.11.94-0ubuntu1) ... Processing triggers for initramfs-tools (0.122ubuntu8) ... Processing triggers for libc-bin (2.23-0ubuntu3) ... Processing triggers for systemd (229-4ubuntu6) ... ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down. .. .. .. [ 82%] Linking CXX executable ../../../bin/rtabmap /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to drmGetDevices2' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference todrmCloseOnce' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to drmMap' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference todrmOpenOnce' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to drmUnmap' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference todrmFreeDevice' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference to drmGetDevice2' /usr/lib/gcc/aarch64-linux-gnu/5/../../../aarch64-linux-gnu/libGL.so: undefined reference todrmFreeDevices' collect2: error: ld returned 1 exit status app/src/CMakeFiles/rtabmap.dir/build.make:468: recipe for target '../bin/rtabmap' failed make[2]: [../bin/rtabmap] Error 1 CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed make[1]: [app/src/CMakeFiles/rtabmap.dir/all] Error 2 Makefile:149: recipe for target 'all' failed make: *** [all] Error 2

[thatting]

I've attached the entire logfile for the installation as well:

Logfile_ROS_installation_Jetxon_TX2.txt

[thatting]

I've managed to solve these two problems now, and I have completed the installation of ROS & RTAB-Map on my Jetson TX2.

Issue 1:

The fault message looked like this:

"cannot download default source list https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down"

This fault prevented command rosdep from working when I tried to run the simulation. Without rosdep working, I could not install dependencies for the rtabmap_ros package, hence making it impossible to run the simulation.

However, I found a solution on ros.org:

https://answers.ros.org/question/54150/rosdep-initialization-error/

See below for my implementation of this:

... ... ... $ rosdep check --from-paths catkin_ws/src

ERROR: your rosdep installation has not been initialized yet. Please run:

sudo rosdep init
rosdep update

$ sudo rosdep init [sudo] password for nvidia: ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down. $ sudo c_rehash /etc/ssl/certs Doing /etc/ssl/certs WARNING: Skipping duplicate certificate ca-certificates.crt WARNING: Skipping duplicate certificate ca-certificates.crt nvidia@tegra-ubuntu:~$ sudo rosdep init Wrote /etc/ros/rosdep/sources.list.d/20-default.list Recommended: please run

rosdep update

$ rosdep update reading in sources list data from /etc/ros/rosdep/sources.list.d Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml Add distro "groovy" Add distro "hydro" Add distro "indigo" Add distro "jade" Add distro "kinetic" Add distro "lunar" Add distro "melodic" updated cache in /home/nvidia/.ros/rosdep/sources.cache

Issue 2:

The error looked like this:

CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed make[1]: ** [app/src/CMakeFiles/rtabmap.dir/all] Error 2 Makefile:149: recipe for target 'all' failed make: [all] Error 2**

I solved it by removing the RTAB-map directory on my Jetson TX2 and then applying this solution, as provided in the project description:

cd /usr/lib/aarch64-linux-gnu && sudo rm libGL.so && sudo ln -s /usr/lib/aarch64-linux-gnu/tegra/libGL.so libGL.so

I then re-ran following commands from the project description and the RTAB-Map installation was successful:

cd ~ && git clone https://github.com/introlab/rtabmap.git rtabmap && cd rtabmap/build && cmake .. && make && sudo make install

So, in the end, I managed to completed the installation of ROS & RTAB-Map on my Jetson TX2.

[karimchamaa]

It seems like you didn't install rosdep when installing ROS.