hi~
I tried compiling my ROS code in the Docker container. my environment:
Device: Jetson AGX Orin
Jetpack: 5.0.1
Docker image: dustynv/ros galactic-ros-base-l4t-r34.1.1
When I compiled on the host, everything worked fine. When I try to open it after compiling code in the container, I find the following error:
Could not load library dlopen error: /usr/lib/aarch64-linux-gnu/tegra/libnvdla_compiler.so: file too short, at /opt/ros/galactic/src/rcutils/src/shared_library.c:99
I tried to find the error file, but failed:
/home# cat /opt/ros/galactic/src/rcutils/src/shared_library.c
cat: /opt/ros/galactic/src/rcutils/src/shared_library.c: No such file or directory
I spent some time cutting out almost all the code. In the example code in visual_test.zip (4.9 KB), through the ROS launch system, the nodes defined in cv_base_node.cpp will be opened, and the main functions of the application is implemented in TRTModule.hpp (I even removed the code calling TRTModule.hpp in cv_base_node.hpp). When I run it, I can reproduce the problem. When I removed the createInferBuilder code in TRTModule.hpp:34:
// ...
void TRTModule::build_engine_from_onnx(const std::string &onnx_file)
{
std::cout << "[INFO]: build engine from onnx" << std::endl;
auto builder = createInferBuilder(gLogger);
// ...
}
// ...
after, it worked fine.
The problem appears to be due to TensorRT, but I can’t quite determine the cause because code
everything worked fine when built on the host.
Here is the process I tried to build:
nvidia@nvidia-desktop:~/Desktop$ docker images
REPOSITORY TAG IMAGE ID CREATED SIZE
dustynv/ros galactic-ros-base-l4t-r34.1.1 9988e698bd55 2 months ago 12.1GB
nvidia@nvidia-desktop:~/Desktop$ docker run -it -v /home/nvidia/Desktop/visual_test/:/home dustynv/ros:galactic-ros-base-l4t-r34.1.1 /bin/bash
sourcing /opt/ros/galactic/install/setup.bash
ROS_ROOT /opt/ros/galactic
ROS_DISTRO galactic
root@fb271e1a2336:/# cd home/
root@fb271e1a2336:/home# ls
CMakeLists.txt include launch package.xml src
root@fb271e1a2336:/home# colcon build
Starting >>> visual_test
--- stderr: visual_test
/home/src/TRTModule.cpp: In member function ‘void TRTModule::create_module(const string&)’:
/home/src/TRTModule.cpp:26:50: warning: unused parameter ‘onnx_file’ [-Wunused-parameter]
26 | void TRTModule::create_module(const std::string &onnx_file)
| ~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/home/src/TRTModule.cpp: In member function ‘void TRTModule::build_engine_from_onnx(const string&)’:
/home/src/TRTModule.cpp:34:10: warning: unused variable ‘builder’ [-Wunused-variable]
34 | auto builder = createInferBuilder(gLogger);
| ^~~~~~~
/home/src/TRTModule.cpp:31:59: warning: unused parameter ‘onnx_file’ [-Wunused-parameter]
31 | void TRTModule::build_engine_from_onnx(const std::string &onnx_file)
| ~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/home/src/TRTModule.cpp: In member function ‘void TRTModule::build_engine_from_cache(const string&)’:
/home/src/TRTModule.cpp:79:60: warning: unused parameter ‘cache_file’ [-Wunused-parameter]
79 | void TRTModule::build_engine_from_cache(const std::string &cache_file)
| ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
/home/src/TRTModule.cpp: In member function ‘void TRTModule::cache_engine(const string&)’:
/home/src/TRTModule.cpp:84:49: warning: unused parameter ‘cache_file’ [-Wunused-parameter]
84 | void TRTModule::cache_engine(const std::string &cache_file)
| ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
In file included from /home/include/cv_base_node.hpp:17,
from /home/src/cv_base_node.cpp:1:
/opt/ros/galactic/install/include/image_transport/image_transport.h:41:89: note: #pragma message: Warning: This header is deprecated. Use 'image_transport.hpp' instead
41 | #pragma message ("Warning: This header is deprecated. Use 'image_transport.hpp' instead")
| ^
In file included from /home/include/cv_base_node.hpp:18,
from /home/src/cv_base_node.cpp:1:
/opt/ros/galactic/install/include/camera_info_manager/camera_info_manager.h:41:93: note: #pragma message: Warning: This header is deprecated. Use 'camera_info_manager.hpp' instead
41 | #pragma message ("Warning: This header is deprecated. Use 'camera_info_manager.hpp' instead")
| ^
---
Finished <<< visual_test [9.78s]
Summary: 1 package finished [9.91s]
1 package had stderr output: visual_test
root@fb271e1a2336:/home# . install/setup.sh
root@fb271e1a2336:/home# ros2 launch visual_test visual_launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-08-13-13-17-28-509826-fb271e1a2336-303
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [Visual-1]: process started with pid [305]
[Visual-1] terminate called after throwing an instance of 'class_loader::LibraryLoadException'
[Visual-1] what(): Could not load library dlopen error: /usr/lib/aarch64-linux-gnu/tegra/libnvdla_compiler.so: file too short, at /opt/ros/galactic/src/rcutils/src/shared_library.c:99
[ERROR] [Visual-1]: process has died [pid 305, exit code -6, cmd '/home/install/visual_test/lib/visual_test/Visual --ros-args -r __node:=Visual'].
Can you help me?