I am using a Jetson Orin Nano dev kit (Jetpack 5.1.2 with Isaac ROS VSLAM 2.1.0) and an Intel RealSense D455 (FW 5.13.0.5, SDK 2.55.1, and ROS package 4.51.1).
I cloned the isaac_ros_common and isaac_ros_visual_slam packages using git checkout v2.1.0. Then I ran the Docker, exited, and added:
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-07-09-12-53-44-346611-ubuntu-26015
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [26026]
[INFO] [realsense2_camera_node-2]: process started with pid [26028]
[component_container-1] [INFO] [1720547625.047770709] [visual_slam_launch_container]: Load Library: /workspaces/isaac_ros-dev/install/isaac_ros_visual_slam/lib/libvisual_slam_node.so
[component_container-1] [ERROR] [1720547625.050744096] [visual_slam_launch_container]: Failed to load library: Could not load library dlopen error: libcuvslam.so: 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 'visual_slam_node' of type 'nvidia::isaac_ros::visual_slam::VisualSlamNode' in container '/visual_slam_launch_container': Failed to load library: Could not load library dlopen error: libcuvslam.so: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-humble-rcutils-5.1.4/src/shared_library.c:99
[realsense2_camera_node-2] [INFO] [1720547625.070476515] [camera.camera]: RealSense ROS v4.51.1
[realsense2_camera_node-2] [INFO] [1720547625.070682278] [camera.camera]: Built with LibRealSense v2.55.1
[realsense2_camera_node-2] [INFO] [1720547625.070713831] [camera.camera]: Running with LibRealSense v2.55.1
[realsense2_camera_node-2] [WARN] [1720547625.115188759] [camera.camera]: Device 1/1 failed with exception: failed to set power state
[realsense2_camera_node-2] [ERROR] [1720547625.115268312] [camera.camera]: The requested device with is NOT found. Will Try again.
[realsense2_camera_node-2] [WARN] [1720547631.151184323] [camera.camera]: Device 1/1 failed with exception: failed to set power state
[realsense2_camera_node-2] [ERROR] [1720547631.151299493] [camera.camera]: The requested device with is NOT found. Will Try again.
[realsense2_camera_node-2] libusb: debug [libusb_get_device_descriptor]
[ERROR] [realsense2_camera_node-2]: process has died [pid 26028, exit code -11, cmd '/workspaces/isaac_ros-dev/install/realsense2_camera/lib/realsense2_camera/realsense2_camera_node --ros-args -r __node:=camera -r __ns:=/camera --params-file /tmp/launch_params_g5ep1o11'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container-1] [INFO] [1720547754.923453045] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container-1]: process has finished cleanly [pid 26026]
I am not sure what is happening, as I didn’t change any of the code and have maintained all versions mentioned in the documentation. Any possible solutions?
P.S. I am using 5.1.2 because 6.0.0 does not include the CH340 or L2303 drivers, which I need for a UART connection. I tried these steps but they didn’t work. If there is another way to add these drivers, I would greatly appreciate it if you could share it so I can move to Jetpack 6.0.0.
P.S. I am trying to combine the 3.0.0 documentation with some commands I have been using from 2.1.0 and ZED. Is there a way to share 2.1.0 documentation?
The support should be available for drivers with CH340 or L2303. Additionally, I noticed that you’ve opened a new topic at Missing of Support CH340 or L2303 drivers on Jetpack 6.0
I think you should be able to work on Jetpack 6.0 without any issues, but let’s wait for a reply from @WayneWWW on this subject.
The ZED support is temporarily suspended, but it will be reinstated soon. I keep you posted when will be released
For the next release will be also added archive documentation for the previous release. I keep you posted when will be released.
If you have any other questions or need further explanation, feel free to ask.
I’m not sure if it was the same bug I created when v3.0 came out, but I fixed all the repositories in the last commit before the release, isaac_ros_common has two more commits after v2.1.0.
To view the documentation for the previous version, you can clone the documentation repository, checkout to the version, and open the files locally. I am currently using it and have not found any broken links.
Thank you, Rodrigo, for your hint to have access to the old documentation.
About the realsense, we have released a fix and now you can rerun our demo.
You can simply run sudo apt-get update and reinstall the package, and now it will work.
Hello @rodrigo.delgado1@Raffaello . I really appreciate both your answers. I am trying to use Jetpack 6, which took a while to install, including the docker.
Regarding the UART communication as the problem I am facing using Jetpack 6, I found a package that open the THS1 UART (Pin 6, 8, 10 from J12) and use it for uXRCE-DDS communication (also my objective). However it doesn’t work in my case.
Which steps should I do in order to have PIN6, 8 and 10 available for uXRCE-DDS UART communication?
It may help to describe shortly what this package do. It uses this file to prepare the jetson:
if [ "$TARGET" = "jetson" ]; then
sudo pip3 install Jetson.GPIO smbus2
sudo apt-get install -y \
nvidia-jetpack
elif [ "$TARGET" = "pi" ]; then
sudo pip3 install RPi.GPIO
fi
sudo pip3 install \
meson \
pyserial \
pymavlink \
dronecan
########## configure environment ##########
echo "Configuring environment"
sudo usermod -a -G dialout $USER
sudo groupadd -f -r gpio
sudo usermod -a -G gpio $USER
sudo usermod -a -G i2c $USER
mkdir -p $XDG_CONFIG_HOME/systemd/user/
if [ "$TARGET" = "jetson" ]; then
sudo systemctl stop nvgetty
sudo systemctl disable nvgetty
sudo cp $TARGET_DIR/99-gpio.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
fi
Then use this file to add a service which includes DDS
#!/bin/bash
sudo true
if uname -ar | grep tegra; then
TARGET=jetson
else
TARGET=pi
fi
TARGET_DIR="$PWD/platform/$TARGET"
# clean up legacy if it exists
sudo systemctl stop dds-agent &>/dev/null
sudo systemctl disable dds-agent &>/dev/null
sudo rm /etc/systemd/system/dds-agent.service &>/dev/null
echo "Installing micro-xrce-dds-agent"
sudo snap install micro-xrce-dds-agent --edge
# Install the service
sudo cp $TARGET_DIR/services/dds-agent.service $XDG_CONFIG_HOME/systemd/user/
systemctl --user daemon-reload
systemctl --user enable dds-agent.service
systemctl --user restart dds-agent.service