Error in trying to run isaac_ros_apriltag quickstart example

[giacomo.cavasin]

Hi!
I’m trying to run the quickstart example from isaac ros apriltag repository isaac_ros_apriltag — isaac_ros_docs documentation, but it is not working. The launch.log file states:

1705480709.1566808 [INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-01-17-08-38-29-142179-dcs-22331 
1705480709.1575005 [INFO] [launch]: Default logging verbosity is set
to INFO 
1705480709.5460792 [INFO] [component_container_mt-1]: process started with pid [22354] 
1705480709.8234372 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node
'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error:
/opt/nvidia/vpi2/lib64/libnvvpi.so.2: version `VPI_2.3' not found (required by /opt/ros/humble/lib/libisaac_ros_nitros_image_type.so), at
/tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99 
1705480764.6497254 [WARNING] [launch]: user interrupted with ctrl-c (SIGINT) 1705480764.8995912 [INFO] [component_container_mt-1]:
process has finished cleanly [pid 22354]

Any help would be appreciated.
Thank you very much.

[Raffaello]

Hi Giacomo,
Welcome to the NVIDIA Isaac ROS forum.

Looking at your log, the VPI is not installed.
Following the Isaac ROS system requirements, check on your host if is installed the Jetpack 5.1.2

If your device works with the latest Jetpack 5.1.2, verify if the VPI is also installed

[giacomo.cavasin]

Hi thanks for the reply. it seems i have older version of jetpack, however if i run “sudo apt install nvidia-jetpack” it says that i already have the newest one.

dcs_user@dcs:~$ sudo apt install nvidia-jetpack
Reading package lists... Done
Building dependency tree       
Reading state information... Done
nvidia-jetpack is already the newest version (5.1-b147).
The following packages were automatically installed and are no longer required:
  gir1.2-goa-1.0 libavresample-dev libavresample4 libdc1394-22-dev libexif-dev
  libfwupdplugin1 libgdcm-dev libgphoto2-dev libilmbase-dev libopencv4.2-java
  libopencv4.2-jni libopenexr-dev libraw1394-dev libtbb-dev libxmlb1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 4 not upgraded.

[Raffaello]

Looking at the apt output, it’s not completely updated.
I suggest completing the installation of the new jetson updates following:

sudo apt full-upgrade

The option full-upgrade, upgrade the system by removing/installing/upgrading packages.

If the issue still persists, I suggest refreshing your Jetson with a fresh Jetpack reinstallation.

[mreparaz]

I am also encountering a problem with the apriltag example. I am using the AGX Xavier with Jetpack 5.1.2, When trying to run the example inside the provided container following the Isaac Ros documentation, I get the following error:

admin@usuario-desktop:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-01-22-08-38-03-997011-usuario-desktop-9218
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [9229]
[component_container_mt-1] [INFO] [1705909084.814876502] [apriltag_container]: Load Library: /opt/ros/humble/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1705909084.821533905] [apriltag_container]: Failed to load library: Could not load library dlopen error: libnvToolsExt.so.1: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error: libnvToolsExt.so.1: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99

Any help is appreciated.

[giacomo.cavasin]

Hi, @Raffaello i managed to update the jetson to jetpack 5.1.2.
However now i’m facing the same error as @mreparaz

admin@dcs:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_apriltag isaac_ros_apriltag.launch.py
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-01-22-12-45-26-084706-dcs-8278
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [8289]
[component_container_mt-1] [INFO] [1705927526.635675541] [apriltag_container]: Load Library: /opt/ros/humble/lib/libapriltag_node.so
[component_container_mt-1] [ERROR] [1705927526.638835594] [apriltag_container]: Failed to load library: Could not load library dlopen error: libnvToolsExt.so.1: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'apriltag' of type 'nvidia::isaac_ros::apriltag::AprilTagNode' in container '/apriltag_container': Failed to load library: Could not load library dlopen error: libnvToolsExt.so.1: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99

Any suggestion?

thanks

[Raffaello]

Hi @mreparaz and @giacomo.cavasin

To better understand why you are facing this error.
Did you update your Jetson with the command: sudo apt install nvidia-jetpack ?

Thank you in advance,
Raffaello

[giacomo.cavasin]

Hi, no I got some instruction from the producer of the carrier board in order to update the jetson without loosing compatibility with the carrier board.

Thanks

[mreparaz]

Hi, I personally did, but the problem remains the same.

thanks for your reply.

[Raffaello]

Thank you for your support. Meanwhile, we are investigating this issue.

Such a workaround please reinstall your jetson from SDK or SDcard

[giacomo.cavasin]

Hi, i’m sorry but i can’t, the developer of carrier board only gave me their method (based on nvidia’s) to flash the jetson trough linux host machine and i wouldn’t now how to do it in other ways. Not only that, given that @mreparaz has the same problem and (i guess) it has a different carrier board, the problem shouldn’t be related to update method.
I also tried to update nvidia-jetpack and it effectively updated many packages, however the error persists.

Thanks for your help.

[Raffaello]

Thank you, @mreparaz and @giacomo.cavasin. I forwarded your issue to the engineering.
I provide updates soon as possible.

Thank you in advance for your time.

Raffaello

[giacomo.cavasin]

Hi Raffaello, did the engineer manage to find something?
Thanks

[Raffaello]

The engineers are still working to resolve this bug as quickly as possible.

I let you know for further updates.
Apologize for this delay.

Raffaello

[giacomo.cavasin]

Hi Raffaello, I hope you have found something by now. I would greatly appreciate being able to use the Jetson for that purpose.

Thanks!

[Raffaello]

Hi Giacomo,

We are investigating to fix this bug. Your post is also related to another one with a similar issue. I report the
@hemals suggestion here.

Cmake cannot find VPI after isaac ros 2.1 upgrade

We haven’t seen this before running on a device so I can’t say for sure how we got into this state, but let’s try adding the path to your mounted /opt/nvidia/cupva-2.3 in the container to LD_LIBRARY_PATH and then trying again. nvidia-container-toolkit should have mounted that directory for you but it looks like you needed to mount it manually which is also unexpected. Fixing the LD_LIBRARY_PATH should get you into a working state hopefully and then we can backtrack as to what’s different.

Let me know if this can be helpful.

Best,
Raffaello