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Set of tutorial to start with Isaac ROS and deploy your docker container

Home Page: https://developer.nvidia.com/isaac-ros-gems

License: MIT License

Dockerfile 36.63% Shell 32.26% CMake 4.48% Python 26.63%

camera ros tutorial isaacros ros2 ros-foxy

isaac_ros_tutorial's Introduction

Hello There! General Kenobi!

I'm Raffaello Bonghi an 🇮🇹 Italian enthusiastic 🤖 robotics engineer, born in the eternal city of 🛵 Rome and now I'm living in 🇬🇧 England.

I studied systems automation and robotics at 👨‍🎓 University of Rome La Sapienza and 👨‍🎓 Universite Paris-Sud, but I always made robots and open-source projects!

👾 Website rnext.it
🐦 Twitter @raffaello86
📸 Instagram @robo.panther
💼 LinkedIn raffaello-bonghi
🦄 Discord

🐆 Panther

Panther is an outdoor tracked robot, with a ZED2 stereocamera and an NVIDIA Jetson AGX Xavier, this robot can interact with all objects around it. It's an AGV platform ROS based for Outdoor and Indoor enviroments.

🦕 nanosaur

nanosaur is a little tracked robot ROS2 enabled, made for an NVIDIA Jetson

🦄 Discord channel

📊 jetson-stats

jetson-stats is a package for monitoring and control your NVIDIA Jetson [Orin, Xavier, Nano, TX] series. Works with all NVIDIA Jetson ecosystem.

isaac_ros_tutorial's People

Contributors

Stargazers

Watchers

Forkers

gcordova19 jack-the-bubble euivmar lordraven-001 bikmaeff tiryoh hcostelha ashishd stevelin168 ruipimentelfigueiredo sg774 vanguard478 isamba odsource mostafa-mansour gebawe tzioncastillo1 thalesfsp

isaac_ros_tutorial's Issues

image_saver execute error in 01-argus_camera sample

01-argus_camera sample failes to execute.

$ docker run -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host rbonghi/isaac-ros-tutorial:argus-camera
sourcing   /opt/ros/foxy/install/setup.bash
ROS_ROOT   /opt/ros/foxy
ROS_DISTRO foxy
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-03-16-02-14-05-382117-JetsonNano2GB-1
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [isaac_ros_argus_camera_mono-1]: process started with pid [56]
[INFO] [image_saver-2]: process started with pid [57]
[image_saver-2] /opt/ros/foxy/install/lib/image_view/image_saver: symbol lookup error: /opt/ros/foxy/install/lib/libimage_view_nodes.so: undefined symbol: _ZN15image_transport19create_subscriptionEPN6rclcpp4NodeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt8functionIFvRKSt10shared_ptrIKN11sensor_msgs3msg6Image_ISaIvEEEEEESA_17rmw_qos_profile_t
[ERROR] [image_saver-2]: process has died [pid 57, exit code 127, cmd '/opt/ros/foxy/install/lib/image_view/image_saver --ros-args --params-file /tmp/launch_params_m969rq_4 -r /image:=/image_raw'].
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.785554173] [argus_monocular]: Argus Version: 0.98.3 (multi-process)
[isaac_ros_argus_camera_mono-1] 
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786330650] [argus_monocular]: Set the camera model using the node parameter "device"
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786393881] [argus_monocular]: Set the sensor mode using the node parameter "sensor"
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786423413] [argus_monocular]: Set the output image format using the node parameter "output_encoding". Supported encodings: "mono8" and "rgb8"
[isaac_ros_argus_camera_mono-1] 
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786450237] [argus_monocular]: Following camera model indices are available:
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786906394] [argus_monocular]: 
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.786981708] [argus_monocular]: 0 porg_front_RBPCV2
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.787013844] [argus_monocular]: Sensor modes supported for this camera device:
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.787635578] [argus_monocular]: 0 (3264 x 2464)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.788080485] [argus_monocular]: 1 (3264 x 1848)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.788535236] [argus_monocular]: 2 (1920 x 1080)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.789020248] [argus_monocular]: 3 (1640 x 1232)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.789394371] [argus_monocular]: 4 (1280 x 720)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.789823809] [argus_monocular]: 5 (1280 x 720)
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.789917145] [argus_monocular]: 
[isaac_ros_argus_camera_mono-1] [INFO] [1647396846.790234288] [argus_monocular]: Capturing from device 0 using sensor mode 0 (3264x2464)
[isaac_ros_argus_camera_mono-1] [WARN] [1647396846.790430387] [argus_monocular]: Cannot get ISyncSensorCalibrationData interface
[isaac_ros_argus_camera_mono-1] [INFO] [1647396847.173752517] [argus_monocular]: Starting repeat capture requests.
[isaac_ros_argus_camera_mono-1] [INFO] [1647396848.020285720] [argus_monocular]: Consumer Running

It seems like the image_saver node called from isaac_ros_argus_camera_mono_launch.py is not available to launch which is called from 01-argus_camera/Dockerfile.

https://github.com/rbonghi/isaac_ros_argus_camera/blob/63e353f2aeb5b34c69044e39cbb2712b67eda05b/isaac_ros_argus_camera_mono/launch/isaac_ros_argus_camera_mono_launch.py#L26

isaac_ros_tutorial/01-argus_camera/Dockerfile

Line 60 in 0f48b43

 CMD ["ros2", "launch", "isaac_ros_argus_camera_mono", "isaac_ros_argus_camera_mono_launch.py"] 

Environment

Jetson Nano 2GB + JetPack 4.6 + rbonghi/isaac_ros_tutorial (6f4c315)

$ pwd
/home/ubuntu/isaac_ros_tutorial
$ git log | head -n1
commit 6f4c3156f1c5c1675466dddb6efc18fcbecfd8c8

To Reproduce

Install JetPack 4.6 on Jetson Nano (I tried with 2GB model)
Run git clone https://github.com/rbonghi/isaac_ros_tutorial.git
Run cd ~/isaac_ros_tutorial && bash ./scripts/fix_jetson_docker.sh
Run cd ~/isaac_ros_tutorial && bash ./scripts/build_docker.sh 00-isaac_ros_base
Run cd ~/isaac_ros_tutorial && bash ./scripts/build_docker.sh 01-argus_camera --no-pull-base-image
- It is important to add --no-pull-base-image to make it clear to use base image build and stored in local storage
Start docker container with docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host rbonghi/isaac-ros-tutorial:isaac-ros-base and run ros2 run image_view image_saver inside the container
- symbol lookup error occurs
Start docker container with docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host rbonghi/isaac-ros-tutorial:argus-camera bash and run ros2 run image_view image_saver inside the container
- symbol lookup error occurs
Start docker container with docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host dustynv/ros:foxy-ros-base-l4t-r32.6.1 and run ros2 run image_view image_saver inside the container
- no error occurs

Actual Behavior

The following error occurs while executing image_saver node from isaac_ros_argus_camera_mono_launch.py:

/opt/ros/foxy/install/lib/image_view/image_saver: symbol lookup error: /opt/ros/foxy/install/lib/libimage_view_nodes.so: undefined symbol: _ZN15image_transport19create_subscriptionEPN6rclcpp4NodeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt8functionIFvRKSt10shared_ptrIKN11sensor_msgs3msg6Image_ISaIvEEEEEESA_17rmw_qos_profile_t

The error message contains the keyword rmw_qos_profile, but I have confirmed that changing the DDS does not change the message.

testing with rmw_fastrtps_cpp on rbonghi/isaac-ros-tutorial:isaac-ros-base

$ docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host rbonghi/isaac-ros-tutorial:isaac-ros-base 
sourcing   /opt/ros/foxy/install/setup.bash
ROS_ROOT   /opt/ros/foxy
ROS_DISTRO foxy
root@JetsonNano2GB:/# echo $RMW_IMPLEMENTATION 
rmw_fastrtps_cpp
root@JetsonNano2GB:/# ros2 run image_view image_saver
/opt/ros/foxy/install/lib/image_view/image_saver: symbol lookup error: /opt/ros/foxy/install/lib/libimage_view_nodes.so: undefined symbol: _ZN15image_transport19create_subscriptionEPN6rclcpp4NodeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt8functionIFvRKSt10shared_ptrIKN11sensor_msgs3msg6Image_ISaIvEEEEEESA_17rmw_qos_profile_t
root@JetsonNano2GB:/#

testing with rmw_cyclonedds_cpp on rbonghi/isaac-ros-tutorial:isaac-ros-base

$ docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host rbonghi/isaac-ros-tutorial:isaac-ros-base 
sourcing   /opt/ros/foxy/install/setup.bash
ROS_ROOT   /opt/ros/foxy
ROS_DISTRO foxy
root@JetsonNano2GB:/# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
root@JetsonNano2GB:/# echo $RMW_IMPLEMENTATION 
rmw_cyclonedds_cpp
root@JetsonNano2GB:/# ros2 run image_view image_saver
/opt/ros/foxy/install/lib/image_view/image_saver: symbol lookup error: /opt/ros/foxy/install/lib/libimage_view_nodes.so: undefined symbol: _ZN15image_transport19create_subscriptionEPN6rclcpp4NodeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKSt8functionIFvRKSt10shared_ptrIKN11sensor_msgs3msg6Image_ISaIvEEEEEESA_17rmw_qos_profile_t
root@JetsonNano2GB:/#

Expected Behavior

No error message. For example, executing ros2 run image_view image_saver on dustynv/ros:foxy-ros-base-l4t-r32.6.1 image shows no error.

testing with rmw_fastrtps_cpp on dustynv/ros:foxy-ros-base-l4t-r32.6.1

$ docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host dustynv/ros:foxy-ros-base-l4t-r32.6.1
sourcing   /opt/ros/foxy/install/setup.bash
ROS_ROOT   /opt/ros/foxy
ROS_DISTRO foxy
root@JetsonNano2GB:/# export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
root@JetsonNano2GB:/# echo $RMW_IMPLEMENTATION 
rmw_fastrtps_cpp
root@JetsonNano2GB:/# ros2 run image_view image_saver
^C[INFO] [1644807660.880021914] [rclcpp]: signal_handler(signal_value=2)

testing with rmw_cyclonedds_cpp on dustynv/ros:foxy-ros-base-l4t-r32.6.1

$ docker run --rm -it -v /tmp/argus_socket:/tmp/argus_socket --runtime nvidia --network host dustynv/ros:foxy-ros-base-l4t-r32.6.1
sourcing   /opt/ros/foxy/install/setup.bash
ROS_ROOT   /opt/ros/foxy
ROS_DISTRO foxy
root@JetsonNano2GB:/# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
root@JetsonNano2GB:/# echo $RMW_IMPLEMENTATION 
rmw_cyclonedds_cpp
root@JetsonNano2GB:/# ros2 run image_view image_saver
1644891136.986210 [0] image_save: using network interface eth0 (udp/192.168.100.10) selected arbitrarily from: eth0, docker0
^C[INFO] [1644891141.894060703] [rclcpp]: signal_handler(signal_value=2)

Debug

I guess this is caused after this commit (af316a1), because the image_transport package has been rebuilt which other packages that depend on it have not been rebuilt such as the image_view package.

After adding some sources to .rosinstall file and re-building the packages, image_saver node seems to be working fine.

$ cat << "EOF" | tee /tmp/run.sh
#!/bin/bash -eux

mkdir -p /tmp/ros_ws/src
cd /tmp/ros_ws
export ROS_PKG=ros_base
export ROS_DISTRO=foxy

rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PKG} \
	launch_xml \
	launch_yaml \
	launch_testing \
	launch_testing_ament_cmake \
	demo_nodes_cpp \
	demo_nodes_py \
	example_interfaces \
	camera_calibration_parsers \
	camera_info_manager \
	cv_bridge \
	v4l2_camera \
	vision_opencv \
	vision_msgs \
	image_geometry \
	image_pipeline \
	image_transport \
	compressed_image_transport \
	compressed_depth_image_transport \
	> ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
cat ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall && \
vcs import src < ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall

find /tmp/ros_ws/src/* -type f -print | xargs grep 'image_transport' 2>/dev/null | grep "depend>" | sed -E "s#.*/(.*)/package\.xml:.*#\1#g" | xargs -I@ grep -B 1 -A 2 local-name.*/@$ ros2.${ROS_DISTRO}.${ROS_PKG}.rosinstall

EOF
$ bash /tmp/run.sh
- git:
    local-name: image_pipeline/image_publisher
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/image_publisher/2.2.1-1
- git:
    local-name: image_pipeline/depth_image_proc
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/depth_image_proc/2.2.1-1
- git:
    local-name: image_pipeline/image_proc
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/image_proc/2.2.1-1
- git:
    local-name: image_pipeline/image_view
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/image_view/2.2.1-1
- git:
    local-name: image_pipeline/image_rotate
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/image_rotate/2.2.1-1
- git:
    local-name: image_pipeline/stereo_image_proc
    uri: https://github.com/ros2-gbp/image_pipeline-release.git
    version: release/foxy/stereo_image_proc/2.2.1-1
- git:
    local-name: image_transport_plugins/compressed_image_transport
    uri: https://github.com/ros2-gbp/image_transport_plugins-release.git
    version: release/foxy/compressed_image_transport/2.3.1-1
- git:
    local-name: image_transport_plugins/compressed_depth_image_transport
    uri: https://github.com/ros2-gbp/image_transport_plugins-release.git
    version: release/foxy/compressed_depth_image_transport/2.3.1-1

Failed to load node 'visual_odometry_node' when running 02-realsense_camera example

Steps to reproduce:

I followed the directions to launch the RealSense camera tutorial.
The final command as instructed is docker run --runtime nvidia --network host --privileged rbonghi/isaac-ros-tutorial:realsense-camera

Expected Result:

The following 3 nodes are expected to run:

visual_odometry_launch_container
robot_state_publisher
realsense2_camera_node

Actual Result:

Only these two nodes actually run:

robot_state_publisher
realsense2_camera_node

The visual_odometry_launch_container errors out with the following message:

[component_container-1] [ERROR] [1648158183.458867921] [camera.visual_odometry_launch_container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'visual_odometry_node' of type 'isaac_ros::visual_odometry::VisualOdometryNode' in container '/camera/visual_odometry_launch_container': Could not find requested resource in ament index

I'm not very confident with my understanding about how ROS2 overlay / underlay environments work, but I suspect this is related to issue I'm experiencing.

Xacro won't build

I am attempting to build the 00isaac_ros_base docker file, but no xacro will not build. It seems to be something to do with --merge-install, because I get this same error on my local machine if I try to colcon build xacro with the --merge-install option.

Steps to reproduce:

Install JetPack 4.6 on Jetson Nano (I tried with 4GB model)
Run git clone https://github.com/rbonghi/isaac_ros_tutorial.git
Run cd ~/isaac_ros_tutorial && bash ./scripts/fix_jetson_docker.sh
Run cd ~/isaac_ros_tutorial && bash ./scripts/build_docker.sh 00-isaac_ros_base

Actual Behavior:

 => [internal] load .dockerignore                                                               0.0s
 => => transferring context: 2B                                                                 0.0s
 => [internal] load build definition from Dockerfile                                            0.1s
 => => transferring dockerfile: 5.23kB                                                          0.0s
 => [internal] load metadata for docker.io/dustynv/ros:foxy-ros-base-l4t-r32.7.1                0.4s
 => [ 1/10] FROM docker.io/dustynv/ros:foxy-ros-base-l4t-r32.7.1@sha256:23bb5ee152ec5661aba3e4  0.0s
 => [internal] load build context                                                               0.0s
 => => transferring context: 47B                                                                0.0s
 => CACHED [ 2/10] RUN apt-get update && apt-get install -y     libavformat-dev     libjpeg-de  0.0s
 => CACHED [ 3/10] RUN apt-get update && apt-get install -y     python3-distutils     libboost  0.0s
 => CACHED [ 4/10] RUN apt-get update && apt-get install -y     git-lfs     software-propertie  0.0s
 => CACHED [ 5/10] RUN echo "s [9.34s]                                                              
 => CACHED [ 6/10] COPY isaac_ros_base.rosinstall isaac_ros_base.rosinstall                     0.0s
Package: cuda-cudart-10-2t-get update &&     apt-get install python3-vcstool python3-pip -y &&  0.0s
Status: install ok installedt update &&    . /opt/ros/foxy/install/setup.sh &&     cd /opt/ro  46.4s
Priority  0.0s                                                                                       
 => CACHED [ 6/10] COPY isaac_ros_base.rosinstall isaac_ros_base.rosinstall                     0.0s 
 => CACHED [ 7/10] RUN apt-get update &&     apt-get install python3-vcstool python3-pip -y &&  0.0s 
 => ERROR [ 8/10] RUN apt-get update &&    . /opt/ros/foxy/install/setup.sh &&     cd /opt/ro  46.4s 
------                                                                                               
 > [ 8/10] RUN apt-get update &&    . /opt/ros/foxy/install/setup.sh &&     cd /opt/ros/foxy &&     rosdep install -y --ignore-src --from-paths src --rosdistro foxy &&     colcon build --merge-install --packages-up-to pcl_conversions sensor_msgs_py diagnostic_updater xacro     camera_calibration_parsers image_transport image_common camera_info_manager &&     rm -Rf src logs build:
#0 0.940 Get:1 https://repo.download.nvidia.com/jetson/common r32.7 InRelease [2,555 B]
#0 0.940 Get:2 http://packages.ros.org/ros2/ubuntu bionic InRelease [4,680 B]
#0 0.978 Get:3 http://ports.ubuntu.com/ubuntu-ports bionic InRelease [242 kB]
#0 1.268 Get:4 https://repo.download.nvidia.com/jetson/common r32.7/main arm64 Packages [16.3 kB]
#0 1.581 Get:5 http://packages.ros.org/ros2/ubuntu bionic/main arm64 Packages [660 kB]
#0 1.629 Get:6 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease [88.7 kB]
#0 1.780 Get:7 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease [83.3 kB]
#0 1.930 Get:8 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease [88.7 kB]
#0 2.084 Get:9 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 Packages [11.0 MB]
#0 3.068 Get:10 http://ports.ubuntu.com/ubuntu-ports bionic/restricted arm64 Packages [572 B]
#0 3.068 Get:11 http://ports.ubuntu.com/ubuntu-ports bionic/multiverse arm64 Packages [153 kB]
#0 3.074 Get:12 http://ports.ubuntu.com/ubuntu-ports bionic/main arm64 Packages [1,285 kB]
#0 3.190 Get:13 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe arm64 Packages [2,138 kB]
#0 3.247 Get:14 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main arm64 Packages [2,230 kB]
#0 3.543 Get:15 http://ports.ubuntu.com/ubuntu-ports bionic-updates/multiverse arm64 Packages [5,370 B]
#0 3.789 Get:16 http://ports.ubuntu.com/ubuntu-ports bionic-updates/restricted arm64 Packages [6,143 B]
#0 3.930 Get:17 http://ports.ubuntu.com/ubuntu-ports bionic-backports/main arm64 Packages [63.9 kB]
#0 4.167 Get:18 http://ports.ubuntu.com/ubuntu-ports bionic-backports/universe arm64 Packages [20.1 kB]
#0 4.198 Get:19 http://ports.ubuntu.com/ubuntu-ports bionic-security/main arm64 Packages [1,859 kB]
#0 4.736 Get:20 http://ports.ubuntu.com/ubuntu-ports bionic-security/universe arm64 Packages [1,445 kB]
#0 4.831 Get:21 http://ports.ubuntu.com/ubuntu-ports bionic-security/multiverse arm64 Packages [2,759 B]
#0 4.832 Get:22 http://ports.ubuntu.com/ubuntu-ports bionic-security/restricted arm64 Packages [5,436 B]
#0 6.365 Fetched 21.4 MB in 6s (3,777 kB/s)
#0 6.365 Reading package lists...
#0 24.44 Reading package lists...
#0 27.64 Building dependency tree...
#0 28.16 Reading state information...
#0 29.06 The following NEW packages will be installed:
#0 29.06   python3-ntplib
#0 29.38 0 upgraded, 1 newly installed, 0 to remove and 57 not upgraded.
#0 29.38 Need to get 6,876 B of archives.
#0 29.38 After this operation, 30.7 kB of additional disk space will be used.
#0 29.38 Get:1 http://ports.ubuntu.com/ubuntu-ports bionic/universe arm64 python3-ntplib all 0.3.3-1 [6,876 B]
#0 30.17 debconf: delaying package configuration, since apt-utils is not installed
#0 30.36 Fetched 6,876 B in 0s (26.1 kB/s)
#0 30.50 Selecting previously unselected package python3-ntplib.
dpkg: warning: files list file for package 'libcufft-10-2' missing; assuming package has no files currently installed
#0 30.54 dpkg: warning: files list file for package 'cuda-cudart-10-2' missing; assuming package has no files currently installed
(Reading database ... 87825 files and directories currently installed.)
#0 30.64 Preparing to unpack .../python3-ntplib_0.3.3-1_all.deb ...
#0 30.65 Unpacking python3-ntplib (0.3.3-1) ...
#0 30.92 Setting up python3-ntplib (0.3.3-1) ...
#0 31.71 executing command [apt-get install -y python3-ntplib]
#0 31.71 #All required rosdeps installed successfully
#0 36.51 Starting >>> std_msgs
#0 36.64 Starting >>> xacro
#0 41.51 --- stderr: xacro
#0 41.51 CMake Error at /opt/ros/foxy/install/share/ament_cmake_python/cmake/ament_python_install_package.cmake:34 (message):
#0 41.51   ament_python_install_package() called with unused arguments:
#0 41.51   SCRIPTS_DESTINATION;lib/xacro
#0 41.51 Call Stack (most recent call first):
#0 41.51   /opt/ros/foxy/install/share/ament_cmake_python/cmake/ament_python_install_package.cmake:28 (_ament_cmake_python_install_package)
#0 41.51   CMakeLists.txt:10 (ament_python_install_package)
#0 41.51 
#0 41.51 
#0 41.51 ---
#0 41.52 Failed   <<< xacro [4.87s, exited with code 1]
#0 45.84 Aborted  <<< std_msgs [9.34s]
#0 46.03 
#0 46.03 Summary: 0 packages finished [11.1s]
#0 46.03   1 package failed: xacro
#0 46.03   1 package aborted: std_msgs
#0 46.03   1 package had stderr output: xacro
#0 46.03   11 packages not processed
------
Dockerfile:101
--------------------
 100 |         rm -rf /var/lib/apt/lists/*
 101 | >>> RUN apt-get update &&\
 102 | >>>     . /opt/ros/$ROS_DISTRO/install/setup.sh && \
 103 | >>>     cd ${ROS_ROOT} && \
 104 | >>>     rosdep install -y --ignore-src --from-paths src --rosdistro foxy && \
 105 | >>>     colcon build --merge-install --packages-up-to pcl_conversions sensor_msgs_py diagnostic_updater xacro \
 106 | >>>     camera_calibration_parsers image_transport image_common camera_info_manager && \
 107 | >>>     rm -Rf src logs build
 108 |     
--------------------
ERROR: failed to solve: process "/bin/bash -c apt-get update &&    . /opt/ros/$ROS_DISTRO/install/setup.sh &&     cd ${ROS_ROOT} &&     rosdep install -y --ignore-src --from-paths src --rosdistro foxy &&     colcon build --merge-install --packages-up-to pcl_conversions sensor_msgs_py diagnostic_updater xacro     camera_calibration_parsers image_transport image_common camera_info_manager &&     rm -Rf src logs build" did not complete successfully: exit code: 1

Running scripts/build_docker.sh with sudo

Hi Raffaello,

In my experience, build_docker.sh only works with sudo.

$ bash scripts/build_docker.sh 02-realsense_camera
- Build repo rbonghi/isaac-ros-tutorial:realsense-camera
Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.24/build?buildargs=%7B%22DPKG_STATUS%22%3A%22%5Cn%5CnPackage%3A+cuda-cudart-10-2%5CnStatus%3A+install+ok+installed%5CnPriority%3A+optional%5CnSection%3A+multiverse%2Fdevel%5CnInstalled-Size%3A+421%5CnMaintainer%3A+cudatools+%5Cu003ccudatools%40nvidia.com%5Cu003e%5CnArchitecture%3A+arm64%5CnSource%3A+cuda%5CnVersion%3A+10.2.89-1%5CnDepends%3A+cuda-license-10-2%5CnConffiles%3A%5Cn+%2Fetc%2Fld.so.conf.d%2Fcuda-10-2.conf+55320412a6e4c3967b31c9bedd5734ab%5CnDescription%3A+CUDA+Runtime+native+Libraries%5Cn+CUDA+Runtime+native+Libraries%22%7D&cachefrom=%5B%5D&cgroupparent=&cpuperiod=0&cpuquota=0&cpusetcpus=&cpusetmems=&cpushares=0&dockerfile=Dockerfile&labels=%7B%7D&memory=0&memswap=0&networkmode=default&pull=1&rm=1&shmsize=0&t=rbonghi%2Fisaac-ros-tutorial%3Arealsense-camera&target=&ulimits=null&version=1: dial unix /var/run/docker.sock: connect: permission denied
docker build failure!

gives me thee permission denied error but it works if I run the same command with sudo. If you agree with this, it can help to edit the README.md files.

Strange drift while the camera was sitting on the table - What might be the reason?

Hi Raffaello, First, thanks for making this tutorial available, it's really helpful.

I have a question about the performance of Elbrus. I managed to build the dockerfile, and run it.
terminal_output_of_running_realsense_image.txt

I don't currently have a host machine where I can run rviz2 to visualize the camera but I am able to print odometry data on the terminal. I ssh'd into my Jetson and attached another terminal to the docker image with docker exec -it <docker name> /bin/bash

Then, I accessed the odometry data by ros2 topic echo /camera/visual_odometry/tf_stamped command.

header:
  stamp:
    sec: 1646075980
    nanosec: 805066752
  frame_id: camera_infra1_optical_frame
child_frame_id: camera_infra1_optical_frame
rectified_transform:
  translation:
    x: 5.067627429962158
    y: 0.5380121469497681
    z: 0.25905224680900574
  rotation:
    x: 0.08346484038717318
    y: 0.09155384207216172
    z: 0.9584881184149462
    w: 0.25681127235414314
smooth_transform:
  translation:
    x: 5.067627429962158
    y: 0.5380121469497681
    z: 0.25905224680900574
  rotation:
    x: 0.08346484038717318
    y: 0.09155384207216172
    z: 0.9584881184149462
    w: 0.25681127235414314
vo_state: 1
integrator_state: 3

Please notice x: 5.06. The algorithm has been running for about 10-20 minutes and the camera has been sitting on the table this entire time. The D435i camera is in a well-lit room, facing to the ceiling, and the IMU hasn't been exposed to any vibrations.

What might be reason of this drift? Do I need to do anything (calibration, etc.) to maximize the performance of Elbrus? I will use this setup to benchmark the performance of Elbrus against some other open-source VIO/VISLAM algorithms, therefore I must make sure that I'm doing everything I can to get the best performance that I can.