Error : isaac_ros_image_segmentation

Autonomous Machines Robotics - Isaac Isaac ROS
1

Hi,

I try to run below github project with JetsonNX and JetPack5.0.1.

But we found errors like below;
usr@usr-desktop:~/workspaces/isaac_ros-dev/src/isaac_ros_common$ ./scripts/run_dev.sh
isaac_ros_dev not specified, assuming /home/usr/workspaces/isaac_ros-dev
~/workspaces/isaac_ros-dev/src/isaac_ros_common ~/workspaces/isaac_ros-dev/src/isaac_ros_common
Error: Failed to call git rev-parse --git-dir: exit status 128
Building aarch64.humble.nav2.user base as image: isaac_ros_dev-aarch64 using key aarch64.humble.nav2.user
Using base image name not specified, using ‘’
Using docker context dir not specified, using Dockerfile directory
Resolved the following Dockerfiles for target image: aarch64.humble.nav2.user
/home/usr/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/…/docker/Dockerfile.user
/home/usr/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/…/docker/Dockerfile.aarch64.humble.nav2
Building /home/usr/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/…/docker/Dockerfile.aarch64.humble.nav2 as image: aarch64-humble-nav2-image with base:
Sending build context to Docker daemon 78.34kB
Step 1/1 : FROM nvcr.io/nvidia/isaac/ros:aarch64-humble-nav2_661a3fb05aba6897468c8ded9fa42c11
—> 17e5302354a1
[Warning] One or more build-args [USER_GID USER_UID USERNAME] were not consumed
Successfully built 17e5302354a1
Successfully tagged aarch64-humble-nav2-image:latest
Building /home/usr/workspaces/isaac_ros-dev/src/isaac_ros_common/scripts/…/docker/Dockerfile.user as image: isaac_ros_dev-aarch64 with base: aarch64-humble-nav2-image
Sending build context to Docker daemon 78.34kB
Step 1/15 : ARG BASE_IMAGE
Step 2/15 : FROM ${BASE_IMAGE}
—> 17e5302354a1
Step 3/15 : ARG USERNAME=admin
—> Using cache
—> 330675d957a4
Step 4/15 : ARG USER_UID=1000
—> Using cache
—> 3c7b6d55a5b7
Step 5/15 : ARG USER_GID=1000
—> Using cache
—> beea0b9cc109
Step 6/15 : RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/* && apt-get clean
—> Using cache
—> 48f8730f00c2
Step 7/15 : RUN if [ $(getent group triton-server) ]; then groupmod --gid ${USER_GID} -n ${USERNAME} triton-server ; usermod -l ${USERNAME} -m -d /home/${USERNAME} triton-server ; mkdir -p /home/${USERNAME} ; sudo chown ${USERNAME}:${USERNAME} /home/${USERNAME} ; fi
—> Using cache
—> f1739c05e54c
Step 8/15 : RUN if [ ! $(getent passwd ${USERNAME}) ]; then groupadd --gid ${USER_GID} ${USERNAME} ; useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} ; fi
—> Using cache
—> e15b11b72c9e
Step 9/15 : RUN echo ${USERNAME} ALL=(root) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && chmod 0440 /etc/sudoers.d/${USERNAME} && adduser ${USERNAME} video && adduser ${USERNAME} sudo
—> Using cache
—> 18a063f6cd48
Step 10/15 : RUN mkdir -p /usr/local/bin/scripts
—> Using cache
—> ae60badf6836
Step 11/15 : COPY scripts/entrypoint.sh /usr/local/bin/scripts/
—> Using cache
—> 0afd3ad288ad
Step 12/15 : RUN chmod +x /usr/local/bin/scripts/.sh
—> Using cache
—> 3f7648977361
Step 13/15 : ENV USERNAME=${USERNAME}
—> Using cache
—> 1e3819bdc1a3
Step 14/15 : ENV USER_GID=${USER_GID}
—> Using cache
—> 70d60d65ae92
Step 15/15 : ENV USER_UID=${USER_UID}
—> Using cache
—> 2c751227b646
Successfully built 2c751227b646
Successfully tagged isaac_ros_dev-aarch64:latest
Running isaac_ros_dev-aarch64-container
docker: Error response from daemon: failed to create shim: OCI runtime create failed: runc create failed: unable to start container process: error during container init: error running hook #0: error running hook: exit status 1, stdout: src: /etc/vulkan/icd.d/nvidia_icd.json, src_lnk: /usr/lib/aarch64-linux-gnu/tegra/nvidia_icd.json, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/etc/vulkan/icd.d/nvidia_icd.json, dst_lnk: /usr/lib/aarch64-linux-gnu/tegra/nvidia_icd.json
src: /usr/lib/aarch64-linux-gnu/libcuda.so, src_lnk: tegra/libcuda.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libcuda.so, dst_lnk: tegra/libcuda.so
src: /usr/lib/aarch64-linux-gnu/libnvcucompat.so, src_lnk: tegra/libnvcucompat.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libnvcucompat.so, dst_lnk: tegra/libnvcucompat.so
src: /usr/lib/aarch64-linux-gnu/libnvidia-nvvm.so, src_lnk: tegra/libnvidia-nvvm.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libnvidia-nvvm.so, dst_lnk: tegra/libnvidia-nvvm.so
src: /usr/lib/aarch64-linux-gnu/libv4l2.so.0.0.999999, src_lnk: tegra/libnvv4l2.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libv4l2.so.0.0.999999, dst_lnk: tegra/libnvv4l2.so
src: /usr/lib/aarch64-linux-gnu/libv4lconvert.so.0.0.999999, src_lnk: tegra/libnvv4lconvert.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libv4lconvert.so.0.0.999999, dst_lnk: tegra/libnvv4lconvert.so
src: /usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvargus.so, src_lnk: …/…/…/tegra/libv4l2_nvargus.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvargus.so, dst_lnk: …/…/…/tegra/libv4l2_nvargus.so
src: /usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvcuvidvideocodec.so, src_lnk: …/…/…/tegra/libv4l2_nvcuvidvideocodec.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvcuvidvideocodec.so, dst_lnk: …/…/…/tegra/libv4l2_nvcuvidvideocodec.so
src: /usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvvideocodec.so, src_lnk: …/…/…/tegra/libv4l2_nvvideocodec.so, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libv4l/plugins/nv/libv4l2_nvvideocodec.so, dst_lnk: …/…/…/tegra/libv4l2_nvvideocodec.so
src: /usr/lib/aarch64-linux-gnu/libvulkan.so.1.3.203, src_lnk: tegra/libvulkan.so.1.3.203, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/libvulkan.so.1.3.203, dst_lnk: tegra/libvulkan.so.1.3.203
src: /usr/lib/aarch64-linux-gnu/tegra/libcuda.so, src_lnk: libcuda.so.1.1, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libcuda.so, dst_lnk: libcuda.so.1.1
src: /usr/lib/aarch64-linux-gnu/tegra/libgstnvdsseimeta.so, src_lnk: libgstnvdsseimeta.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libgstnvdsseimeta.so, dst_lnk: libgstnvdsseimeta.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so, src_lnk: libnvbufsurface.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so, dst_lnk: libnvbufsurface.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so, src_lnk: libnvbufsurftransform.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurftransform.so, dst_lnk: libnvbufsurftransform.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvbuf_utils.so, src_lnk: libnvbuf_utils.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvbuf_utils.so, dst_lnk: libnvbuf_utils.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvdsbufferpool.so, src_lnk: libnvdsbufferpool.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvdsbufferpool.so, dst_lnk: libnvdsbufferpool.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so, src_lnk: libnvidia-nvvm.so.4, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so, dst_lnk: libnvidia-nvvm.so.4
src: /usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so.4, src_lnk: libnvidia-nvvm.so.4.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so.4, dst_lnk: libnvidia-nvvm.so.4.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvid_mapper.so, src_lnk: libnvid_mapper.so.1.0.0, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvid_mapper.so, dst_lnk: libnvid_mapper.so.1.0.0
src: /usr/lib/aarch64-linux-gnu/tegra/libnvscibuf.so, src_lnk: libnvscibuf.so.1, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvscibuf.so, dst_lnk: libnvscibuf.so.1
src: /usr/lib/aarch64-linux-gnu/tegra/libnvscicommon.so, src_lnk: libnvscicommon.so.1, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvscicommon.so, dst_lnk: libnvscicommon.so.1
src: /usr/lib/aarch64-linux-gnu/tegra/libnvscistream.so, src_lnk: libnvscistream.so.1, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvscistream.so, dst_lnk: libnvscistream.so.1
src: /usr/lib/aarch64-linux-gnu/tegra/libnvscisync.so, src_lnk: libnvscisync.so.1, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/lib/aarch64-linux-gnu/tegra/libnvscisync.so, dst_lnk: libnvscisync.so.1
src: /usr/share/glvnd/egl_vendor.d/10_nvidia.json, src_lnk: …/…/…/lib/aarch64-linux-gnu/tegra-egl/nvidia.json, dst: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/usr/share/glvnd/egl_vendor.d/10_nvidia.json, dst_lnk: …/…/…/lib/aarch64-linux-gnu/tegra-egl/nvidia.json
, stderr: nvidia-container-cli: mount error: file creation failed: /var/lib/docker/overlay2/235ecacbe6f01375fb44ac7c12d1a6f7337cf91d98de271cf452d24d37e5e14f/merged/dev/nvhost-as-gpu: invalid argument: unknown.
~/workspaces/isaac_ros-dev/src/isaac_ros_common

Question:
Are there anyone success to run this github project with JetsonNX and JetPack5.0.1?

We would appreciate if you tell us how to solve this issue.

Best regards,

2

Please update nvidia-container-toolkit to version > 1.10.0: sudo apt update && sudo apt-get install nvidia-container-toolkit. This should resolve this issue with running a privileged container.

3

Hi,
Thank you very much for your kindness.
I really appreciate your help.

I can success to run the project.
Thank you !

And I have additional question like below.

Question:
I try to use USB-camera like below.

ros2 run image_publisher image_publisher_node /dev/video0 --ros-args -r image_raw:=image

Is it proper way to use USB-camera instead of unet_sample_data_0.db3 ?

If there are any recommended way to use USB-camera, please tell us.

Best regards,

4

It would be helpful for others to find the discussion if you could repost this question in a separate topic and mark this issue as resolved if you would be so kind. The short answer is to look into using V4L2 (Video 4 Linux 2) ROS2 packages that works with your USB camera (most USB cameras work with v4l2).

5

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