Hi,
I am trying to publish ros images using issac ros argus camera with a gmsl camera.
I installed jetpack 5.1.3 on a Jetson AGX Orin and followed these two guides:
isaac_ros: Isaac ROS Buildfarm — isaac_ros_docs documentation
issac_ros_argus_camera: isaac_ros_argus_camera — isaac_ros_docs documentation
When running this: ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py
I get the following error:
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2024-04-24-13-25-45-552640-gorin-001-70330
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container_mt-1]: process started with pid [70349]
[component_container_mt-1] [INFO] [1713957946.062290122] [argus_mono_container]: Load Library: /opt/ros/humble/lib/libmono_node.so
[component_container_mt-1] [INFO] [1713957946.112455172] [argus_mono_container]: Found class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1713957946.112584933] [argus_mono_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<nvidia::isaac_ros::argus::ArgusMonoNode>
[component_container_mt-1] [INFO] [1713957946.118729823] [NitrosContext]: [NitrosContext] Creating a new shared context
[component_container_mt-1] [INFO] [1713957946.118968322] [argus_mono]: [NitrosNode] Initializing NitrosNode
[component_container_mt-1] [INFO] [1713957946.119384264] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/std/libgxf_std.so
[component_container_mt-1] [INFO] [1713957946.125844710] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_gxf_helpers.so
[component_container_mt-1] [INFO] [1713957946.129630109] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_sight.so
[component_container_mt-1] [INFO] [1713957946.133827866] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_atlas.so
[component_container_mt-1] [INFO] [1713957946.138806819] [NitrosContext]: [NitrosContext] Loading application: '/opt/ros/humble/share/isaac_ros_nitros/config/type_adapter_nitros_context_graph.yaml'
[component_container_mt-1] [INFO] [1713957946.140067541] [NitrosContext]: [NitrosContext] Initializing application...
[component_container_mt-1] [INFO] [1713957946.144505430] [NitrosContext]: [NitrosContext] Running application...
[component_container_mt-1] 2024-04-24 13:25:46.144 WARN gxf/std/program.cpp@514: No system specified. Nothing to do
[component_container_mt-1] [INFO] [1713957946.147704932] [NitrosContext]: [NitrosContext] Loading extension: gxf/lib/libgxf_argus.so
[component_container_mt-1] [ERROR] [1713957946.153177332] [NitrosContext]: [NitrosContext] dlopen failed when opening "/opt/ros/humble/share/isaac_ros_gxf/gxf/lib/libgxf_argus.so": libnvidia-kms.so.35.4.1: cannot open shared object file: No such file or directory
[component_container_mt-1] [ERROR] [1713957946.153241301] [ArgusNitrosContext]: loadExtensions Error: GXF_FAILURE
[component_container_mt-1] [INFO] [1713957946.153978687] [argus_mono]: [NitrosNode] Terminating the running application
[component_container_mt-1] [INFO] [1713957946.154030272] [argus_mono]: [NitrosContext] Interrupting GXF...
[component_container_mt-1] 2024-04-24 13:25:46.154 ERROR gxf/std/program.cpp@533: Attempted interrupting when not running (state=0).
[component_container_mt-1] 2024-04-24 13:25:46.154 ERROR gxf/core/runtime.cpp@1400: Graph interrupt failed with error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [ERROR] [1713957946.154091873] [argus_mono]: [NitrosContext] GxfGraphInterrupt Error: GXF_INVALID_EXECUTION_SEQUENCE
[component_container_mt-1] [INFO] [1713957946.154102753] [argus_mono]: [NitrosContext] Waiting on GXF...
[component_container_mt-1] [INFO] [1713957946.154121313] [argus_mono]: [NitrosContext] Deinitializing...
[component_container_mt-1] [INFO] [1713957946.154141602] [argus_mono]: [NitrosContext] Destroying context
[component_container_mt-1] [INFO] [1713957946.155124976] [argus_mono]: [NitrosNode] Application termination done
[component_container_mt-1] [ERROR] [1713957946.157757814] [argus_mono_container]: Component constructor threw an exception: loadExtensions Error: GXF_FAILURE
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'argus_mono' of type 'nvidia::isaac_ros::argus::ArgusMonoNode' in container '/argus_mono_container': Component constructor threw an exception: loadExtensions Error: GXF_FAILURE
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[component_container_mt-1] [INFO] [1713958016.978591895] [rclcpp]: signal_handler(signum=2)
[INFO] [component_container_mt-1]: process has finished cleanly [pid 70349]
When searching throught the entire system I have only libnvidia-kms.so.35.5.0 available. So I do not know why it looks for version 35.4.1.
Any hints?
Thanks