Holohub and Holoscan Sensor Bridge Version Compatibility for VB1940 ROS 2 Example

Robotics & Edge Computing Jetson Systems Jetson Thor
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1

Hi,

Environment:

  • AGX Thor, JetPack 7.0
  • Holoscan SDK 3.9.0
  • HSB 2.5.0 (2.5-GA)
  • holohub tag: holoscan-sdk-3.9.0

I am trying to build the vb1940 ROS 2 publisher example on AGX Thor and hitting a build error

  • error: ‘infiniband_devices’ is not a member of ‘hololink::core’

The example uses hololink::core::infiniband_devices() but all public Holoscan Sensor Bridge releases (2.5.0, 2.5.0-PB6, 2.6.0-EA, 2.6.0-EA2) only have hololink::infiniband_devices().

I checked all holohub tags from holoscan-sdk-3.6.0 to holoscan-sdk-4.3.0 — the file has never been updated.

My question:

What is the correct combination of:

  • holohub release tag
  • Holoscan Sensor Bridge release tag
  • JetPack version (7.0 / 7.1 / 7.2)

…to successfully build and run the vb1940 ROS 2 publisher example on AGX Thor?

Also, the HSB 2.5-GA release notes state “Container builds for Thor for use with Linux network receiver applications only.” — does this mean the holohub vb1940 example (which uses RoceReceiverOp) is not supported on Thor, and examples/linux_vb1940_player.py from the HSB repo should be used instead?

3

RoceReceiverOp works on devices with ConnectX NIC. Thor is mgbe.

My experience when attempting to build 4 of the holohub applications is that they generally do not work on Thor.

The kind response to my github/nvidia-holoscan/holohub issue where I said after the details that " Note: nothing in this repo that I’ve attempted to use on Nvidia Thor has worked." was

The IMX274 GPU-Resident demo application here in HoloHub targets 
NVIDIA IGX Orin platforms and is not maintained for 
NVIDIA Jetson AGX Thor.
4

This is what is currently working on my Thor Jetpack 7.2 with the most recent versions of holoscan-sensor-bridge and how to get them.

sudo apt install holoscan-cuda-13 #version 4.4.0.1-1

# In your venv
pip install holoscan-cu13 #version 4.4.0

https://docs.nvidia.com/holoscan/sensor-bridge/2.6.0/setup.html#sd-tab-item-3
To run C++ Li VB1940 accelerated networking SIPL based examples in the terminal cli use the following commands:

git clone https://github.com/nvidia-holoscan/holoscan-sensor-bridge
cd holoscan-sensor-bridge

git switch release-2.6.0

mkdir build && cd build
cmake -DHOLOLINK_BUILD_SIPL=1 -DHOLOLINK_BUILD_FUSA=1 -DHOLOLINK_BUILD_ROCE=0 \
  -DCMAKE_INSTALL_PREFIX=/opt/nvidia/hololink ..

make -j10
sudo make install

# Then I manually copied 
cp -r /opt/nvidia/hololink/python/hololink $VENV/lib/python3.12/site-packages/

holoscan-enumerate   shows I have hsb_ip_version=0x2603
I don't know if you get firmware from https://leopardimaging.com/
or 
hsb_flasher -H 192.168.0.2 -t 2603
6

Thanks @whitesscott for sharing the details. Did you anytime tested the ROS2 examples in the holohub sdk.

holohub/applications/holoscan_ros2/vb1940 at holoscan-sdk-4.3.0 · nvidia-holoscan/holohub

Regards,
Sivasubramaniyan

7

No I gave up on holohub as nothing I tried worked on Thor.
A potential avenue might be https://developer.nvidia.com/isaac

8

hello sivasubramaniyan.padmanab,

let’s have issue narrow down, could you please test vb1940 preview stream?
please also moving forward to the latest JP-7.2 for verification.
see-also Leopard imaging VB1940 Eagle player example.
you should execute linux_vb1940_player.py on AGX Thor.

9

I spoke too soon. Today ported https://github.com/nvidia-holoscan/holohub/.../holoscan_ros2 camera app to IMX274 with LinuxReceiverOp on Thor MGBE.

The holohub:imx274 docker image is fully functional with pubsub as below with ./holohub run imx274. It displays video equivalent to linux_imx274_player.
I’ll do pr’s for this work once I re-review nvidia-holoscan/holohub pr requirements.

Since imx274 works I then applied changes to another copy of the vb1940 files.

The following holohub:thor_vb1940 container builds and pubsub works. I cannot test the video portion since I don’t have a vb1940.

git clone https://github.com/nvidia-holoscan/holohub
cd holohub
git checkout -b thor-vb1940-holoscan-ros2
git apply /path/to/thor-vb1940-holoscan-ros2.patch
  
# Then build the docker container. It will take a while; modified Dockerfile is based on nvcr.io/nvidia/clara-holoscan/holoscan:v4.4.0-cuda13 to equal Thor Jetpack 7.2 software configuration as noted above.

./holohub build thor_vb1940

# Then to test 
# Run next line once per boot — Linux receiver needs a large socket buffer
sudo sysctl -w net.core.rmem_max=31326208

# terminal 1: publisher (vb1940 → ROS2 topic vb1940/image)
./holohub run thor_vb1940 --no-docker-build                    # publisher, streams until Ctrl+C

# terminal 2: subscriber (ROS2 → Holoviz)
./holohub run thor_vb1940 subscriber --no-docker-build         # Holoviz window on the topic

thor-vb1940-holoscan-ros2.patch.txt (103.8 KB)