Error building isaac ros 3.0 on AGX Orin

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

hello, i have been trying to build the isaac ros container and i keep getting this error:

 MPC version 1.2.1, isl version isl-0.24-GMP
179.5 
179.5 GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
179.5 GNU GIMPLE (Ubuntu 11.4.0-1ubuntu1~22.04) version 11.4.0 (aarch64-linux-gnu)
179.5 	compiled by GNU C version 11.4.0, GMP version 6.2.1, MPFR version 4.1.0, MPC version 1.2.1, isl version isl-0.24-GMP
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179.5     arg [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu/crtn.o] ==> obj [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu/crtn.o]
179.5   collapse obj [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu/Scrt1.o] ==> [/usr/lib/aarch64-linux-gnu/Scrt1.o]
179.5   collapse obj [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu/crti.o] ==> [/usr/lib/aarch64-linux-gnu/crti.o]
179.5   collapse obj [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu/crtn.o] ==> [/usr/lib/aarch64-linux-gnu/crtn.o]
179.5   collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/11] ==> [/usr/lib/gcc/aarch64-linux-gnu/11]
179.5   collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/11/../../../aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
179.5   collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/11/../../../../lib] ==> [/usr/lib]
179.5   collapse library dir [/lib/aarch64-linux-gnu] ==> [/lib/aarch64-linux-gnu]
179.5   collapse library dir [/lib/../lib] ==> [/lib]
179.5   collapse library dir [/usr/lib/aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
179.5   collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
179.5   collapse library dir [/usr/local/cuda/lib64/stubs] ==> [/usr/local/cuda/lib64/stubs]
179.5   collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/11/../../..] ==> [/usr/lib]
179.5   implicit libs: [stdc++;m;gcc_s;gcc;c;gcc_s;gcc]
179.5   implicit objs: [/usr/lib/aarch64-linux-gnu/Scrt1.o;/usr/lib/aarch64-linux-gnu/crti.o;/usr/lib/gcc/aarch64-linux-gnu/11/crtbeginS.o;/usr/lib/gcc/aarch64-linux-gnu/11/crtendS.o;/usr/lib/aarch64-linux-gnu/crtn.o]
179.5   implicit dirs: [/usr/lib/gcc/aarch64-linux-gnu/11;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib;/usr/local/cuda/lib64/stubs]
179.5   implicit fwks: []
179.5 
179.5 
179.5 Determining if the include file pthread.h exists passed with the following output:
179.5 Change Dir: /opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp
179.5 
179.5 Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_a83cf/fast && gmake[2]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 /usr/bin/gmake  -f CMakeFiles/cmTC_a83cf.dir/build.make CMakeFiles/cmTC_a83cf.dir/build
179.5 gmake[3]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 Building C object CMakeFiles/cmTC_a83cf.dir/CheckIncludeFile.c.o
179.5 /usr/bin/cc   -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -o CMakeFiles/cmTC_a83cf.dir/CheckIncludeFile.c.o -c /opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp/CheckIncludeFile.c
179.5 Linking C executable cmTC_a83cf
179.5 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a83cf.dir/link.txt --verbose=1
179.5 /usr/bin/cc -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -Wl,--no-as-needed  /opt/ros/humble/lib/libbackward.so /usr/lib/aarch64-linux-gnu/libdw.so -Wl,--as-needed   CMakeFiles/cmTC_a83cf.dir/CheckIncludeFile.c.o -o cmTC_a83cf 
179.5 gmake[3]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 gmake[2]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 
179.5 
179.5 
179.5 Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD succeeded with the following output:
179.5 Change Dir: /opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp
179.5 
179.5 Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_38eef/fast && gmake[2]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 /usr/bin/gmake  -f CMakeFiles/cmTC_38eef.dir/build.make CMakeFiles/cmTC_38eef.dir/build
179.5 gmake[3]: Entering directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 Building C object CMakeFiles/cmTC_38eef.dir/src.c.o
179.5 /usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD  -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -o CMakeFiles/cmTC_38eef.dir/src.c.o -c /opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp/src.c
179.5 Linking C executable cmTC_38eef
179.5 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_38eef.dir/link.txt --verbose=1
179.5 /usr/bin/cc -g -O2 -ffile-prefix-map=/opt/ros/humble/src/moveit_task_constructor/core=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2  -Wl,--no-as-needed  /opt/ros/humble/lib/libbackward.so /usr/lib/aarch64-linux-gnu/libdw.so -Wl,--as-needed   CMakeFiles/cmTC_38eef.dir/src.c.o -o cmTC_38eef 
179.5 gmake[3]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 gmake[2]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core/.obj-aarch64-linux-gnu/CMakeFiles/CMakeTmp'
179.5 
179.5 
179.5 Source file was:
179.5 #include <pthread.h>
179.5 
179.5 static void* test_func(void* data)
179.5 {
179.5   return data;
179.5 }
179.5 
179.5 int main(void)
179.5 {
179.5   pthread_t thread;
179.5   pthread_create(&thread, NULL, test_func, NULL);
179.5   pthread_detach(thread);
179.5   pthread_cancel(thread);
179.5   pthread_join(thread, NULL);
179.5   pthread_atfork(NULL, NULL, NULL);
179.5   pthread_exit(NULL);
179.5 
179.5   return 0;
179.5 }
179.5 
179.5 dh_auto_configure: error: cd .obj-aarch64-linux-gnu && cmake -DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_SYSCONFDIR=/etc -DCMAKE_INSTALL_LOCALSTATEDIR=/var -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_USE_PACKAGE_REGISTRY=OFF -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON "-GUnix Makefiles" -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_INSTALL_LIBDIR=lib/aarch64-linux-gnu -DCMAKE_INSTALL_PREFIX=/opt/ros/humble -DAMENT_PREFIX_PATH=/opt/ros/humble -DCMAKE_PREFIX_PATH=/opt/ros/humble -DBUILD_TESTING=OFF .. returned exit code 1
179.5 make[1]: *** [debian/rules:33: override_dh_auto_configure] Error 2
179.5 make[1]: Leaving directory '/opt/ros/humble/src/moveit_task_constructor/core'
179.6 make: *** [debian/rules:27: binary] Error 2
------

 1 warning found (use --debug to expand):
 - LegacyKeyValueFormat: "ENV key=value" should be used instead of legacy "ENV key value" format (line 17)
Dockerfile.ros2_humble:241
--------------------
 240 |     # installed from source above.
 241 | >>> RUN --mount=type=cache,target=/var/cache/apt \
 242 | >>>     mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
 243 | >>>     && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
 244 | >>>     && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
 245 | >>>     && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
 246 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 247 | >>>     && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
 248 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 249 | >>>     && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
 250 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 251 | >>>     && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
 252 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 253 | >>>     && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
 254 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
 255 | >>>     && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
 256 | >>>     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb
 257 |     
--------------------
ERROR: failed to solve: process "/bin/bash -c mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src     && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble     && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash     && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb     && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck     && cd ../ && apt-get install -y ./*.deb && rm ./*.deb" did not complete successfully: exit code: 2
~/workspaces/isaac_ros-dev/src/isaac_ros_common

I am using JetPack 6.0

2

here are is my setup:

castej@castej-desktop:~$ sudo ls -l /var/lib/docker
total 60
drwx--x--x  4 root root  4096 Jul  7 14:54 buildkit
drwx--x---  2 root root  4096 Jul  7 20:31 containers
-rw-------  1 root root    36 Jul  7 14:54 engine-id
drwx------  3 root root  4096 Jul  7 14:54 image
drwxr-x---  3 root root  4096 Jul  7 14:54 network
drwx--x--- 79 root root 20480 Jul 17 21:33 overlay2
drwx------  4 root root  4096 Jul  7 14:54 plugins
drwx------  2 root root  4096 Jul 17 21:01 runtimes
drwx------  2 root root  4096 Jul  7 14:54 swarm
drwx------  2 root root  4096 Jul 17 21:33 tmp
drwx-----x  2 root root  4096 Jul 17 21:01 volumes

castej@castej-desktop:~$ sudo du -chs /var/lib/docker/
24G	/var/lib/docker/
24G	total

castej@castej-desktop:~$ docker info | grep -e "Runtime" -e "Root"
 Runtimes: io.containerd.runc.v2 nvidia runc
 Default Runtime: nvidia
 Docker Root Dir: /var/lib/docker
3

I was able to build it before, but today I am facing the same issue. Commenting out these two parts of Dockerfile.ros2_humble solved the problem for now

# Install MoveIt task constructor from source.  The "demo" package depends on moveit_resources_panda_moveit_config,
# installed from source above.
RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
    && git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble \
    && cd moveit_task_constructor && source ${ROS_ROOT}/setup.bash \
    && cd msgs && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd rviz_marker_tools && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd core && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd capabilities && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd visualization && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb \
    && cd demo && bloom-generate rosdebian && fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb

and

# Install moveit2_tutorials from source (depends on moveit_hybrid_planning).
RUN --mount=type=cache,target=/var/cache/apt \
    mkdir -p ${ROS_ROOT}/src && cd ${ROS_ROOT}/src \
    && git clone https://github.com/ros-planning/moveit2_tutorials.git -b humble \
    && cd moveit2_tutorials && source ${ROS_ROOT}/setup.bash \
    && bloom-generate rosdebian && fakeroot debian/rules binary \
    && cd ../ && apt-get install -y ./*.deb && rm ./*.deb

Edit: the following PR should solve the problem in case you need the above packages

4

Thank you @mohamed.abdelaziz1

We are keep tracking this issue from this topic https://forums.developer.nvidia.com/t/run-dev-sh-fails-moveit-task-constructor-isaac-ros/299920/8

I keep you posted.

Raffaello

5

Hi all,

This bug has been fixed, and you can now use the official Isaac ROS common repository to build the images without encountering failures.

Best,
Raffaello

1 Like