GMSL camera images cannot be acquired.

Hello,

I installed Autoware on DRIVE PX2 and used it.
Installing ROS on DRIVE PX2 will make it impossible to acquire the image of the GMSL camera connected to DRIVE PX2.
Installing ros-kinetic-ros-base does not cause problems.
However, installing rviz or rqt will occur.

How should I deal with it?

Thanks,

Dear kkazama,

Please refer to below to install ROS-Kinetic on DPX2.

  1. Install the PDK and flash the target build onto the board as described in the PDK Developer’s Guide

  2. Boot to Ubuntu Unity Desktop
    Note: Do not perform “apt-get upgrade” on the target, at any stage

  3. Via Ubuntu GUI, configure Ubuntu to allow package installation from main, restricted, universe and multiverse repositories

  4. Setting locale:
    (This is optional. Setting locales explicitly to either of the options mentioned may cause some issues with launching the terminal after a system reboot. So, this step may be skipped in the first try)
    sudo update-locale LANG=C LANGUAGE=C LC_ALL=C LC_MESSAGE=POSIX
    (or)
    export LANGUAGE=en_US.UTF-8
    export LANG=en_US.UTF-8
    export LC_ALL=en_US.UTF-8
    sudo locale-gen en_US.UTF-8
    sudo dpkg-reconfigure locales

  5. Setup the keys to authenticate package downloads
    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

  6. Open the ‘Software & Updates’ applet and add
    deb http://packages.ros.org/ros/ubuntu xenial main

  7. Update the libssl1.0.0 package to the latest version [1.0.2g-1ubuntu4.6]and install libssl-dev
    sudo apt-get install libssl1.0.0/xenial libssl-doc/xenial libssl-dev/xenial

  8. Install the ‘Desktop’ bundle of ROS (contains the ROS Core Framework, plus a set of popular algorithms and sample apps)
    sudo apt-get install ros-kinetic-desktop

  9. After successful installation of ROS, set up the environment so that the terminal recognizes ROS.
    echo “source /opt/ros/kinetic/setup.bash” >> ~/.bashrc
    source ~/.bashrc

  10. Set the library search path for the current shell
    export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu

  11. Run some ROS sample apps to verify install success. For example:
    VISUALIZING THE ROS TURTLESIM APP WITH RVIZ

  12. From a terminal, run
    roslaunch turtle_tf turtle_tf_demo.launch

  13. In a new terminal, run
    rviz &

  14. After launching the rviz GUI, change the Fixed frame (found under ‘Global Options’ in the ‘Displays’ section) to ‘world’.

  15. From the display section, Add > By display type > TF

  16. To verify successful connectivity between the turtlesim application and rviz,
    move the turtle on the terminal used to run roslaunch (Step1 above) and observe the movement of the turtle frames with respect to the world frame in the rviz GUI

Dear SteveNV,

Thank you for your reply.
GMSL camera image can be acquired.
Thank you very much.

Do I have to enter ‘export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu’ every time?
I modified “ld.so.conf” file and executed ‘ldconfig’, but I cannot set it well.

Thanks,
kkazama.

Dear kkazama,

Do I have to enter ‘export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu’ every time?
=> I’m not sure if you reboot the system, I think maybe not. Thanks.

Dear SteveNV,

I reboot the system.
But, I cannot acquire the camera image unless ‘export xxx’ is input each time.
Also, I noticed that it will become unresponsive when rviz is started.
Should I try re-flashing and re-install ROS and Autoware?

Thanks,
kkazama

Dear kkazama,

Could you please add “export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu” in bashrc file?
After modify bashrc file please run this command $source ~/.bashrc
Maybe I think the application will be ran without additional any command. Thanks.

Dear SteveNV,

Thanks for your reply.
I added “export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib:/usr/lib/aarch64-linux-gnu” in bashrc file.
Even if I don’t input it every time, it works now.
But, two issues remain.
One is that it does not work from ‘Camera Test’ and ‘DriveNet(live)’ on the desktop.
Another one is that loading the rviz config file will cause rviz to fall.
Do you know the cause?

Thanks,
kkazama

Dear kkazama,

Could you please upload the error logs? Thanks.

Dear SteveNV,

I am sorry, where is the error log created?
I took a picture of the phenomenon so I will put a link on Google Drive.
I would be pleased if you could check it.

(1)

(2)

Thanks,
kkazama

Dear kkazama,

Did you run the app with a supervisor permission like “$sudo ./run”?
I’m not sure what problem is just with the movie file you uploaded. Thanks.

Dear SteveNV,

Executing “$sudo ./run” did not change.
I will attach the image of the terminal when the phenomenon occurs, so it would be greatly appreciated if you could check it.

I’m sorry.
The image could not be attached.

Dear kkazama,

Could you please re-flash DPX2 board with the latest version SDK and re-run it? Thanks.

Dear SteveNV,

I tried it, but the status did not change.
What could be considered the cause?

Thanks,
kkazama.

Dear kkazama,

Could you please review below link for this topic? Hope it can help you
https://devtalk.nvidia.com/default/topic/1030193/general/-solved-cannot-find-function-nveglapigetaccess-after-installing-ros-kinetic/
If still can repro this issue, please file a bug. Thanks.

Dear SteveNV,

Thank you for your reply.
But the status was not improved.

Thanks,
kkazama.

Dear all,

The problem of Rviz has been solved.
The reason is that the data I am trying to display with Rviz was too large.
When reducing the data, the above phenomenon no longer occurs.

I appreciate your cooperation.

Best regards,
kkazama.