isaac_ros_nitros Build failure

[sandeepdutta]

Hello,

I am having trouble buildng isaac_ros_nitros on Orin AGX platform. I am using the docker container
from "jetson-containers". I have installed negotiated & other prerequisites . I have set "CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda/ . I have confirmed that libnvToolsExt.so exists in /usr/local/cuda/lib64.
Not sure why I am getting the "file format" error for libgxf_core.so , seems to be a text file.
I have attached the build log
log.tgz
Thank you
Sandeep

/usr/bin/ld: cannot find -lnvToolsExt
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/isaac_ros_nitros_exe.dir/build.make:162: isaac_ros_nitros_exe] Error 1
make[1]: *** [CMakeFiles/Makefile2:185: CMakeFiles/isaac_ros_nitros_exe.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: cannot find -lnvToolsExt
/usr/bin/ld:/workspaces/isaac_ros_stuff/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so: file format not recognized; treating as linker script
/usr/bin/ld:/workspaces/isaac_ros_stuff/install/isaac_ros_gxf/share/isaac_ros_gxf/gxf/lib/core/libgxf_core.so:1: syntax error
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/isaac_ros_nitros.dir/build.make:360: libisaac_ros_nitros.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:159: CMakeFiles/isaac_ros_nitros.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

Failed <<< isaac_ros_nitros [1min 36s, exited with code 2]

[ryank-cobot]

I ran into this error: /usr/bin/ld: cannot find -lnvToolsExt many times when I had multiple CUDA versions installed on the machine. I would make sure you are only using 11.4 and that the 11.4 lib is in your LD_LIBRARY_PATH. This is in our Dockerfile:
ENV LD_LIBRARY_PATH="/usr/local/cuda-11.4/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}". Which docker container are you using specifically?

[sandeepdutta]

There were two separate issues .
a) the LFS files in the repository isaac_ros_gxf git not get resolved (not sure why).
> git lfs pull [fixed the issue)
b) to resolve nvToolsExt I had to add "--cmake-args CUDA_TOOLCHAIN_ROOT_DIR=/usr/local/cuda" to the build command line.