[ROS2 Foxy] Unable to build from master
brendoncintas opened this issue · 7 comments
Hello,
I've got an OS1 running firmware 2.4 that's connected to an Nvidia Jetson Xavier NX. I'm attempting to build from source cloned off of the master branch, but every time I build, I resulted in the following error:
Starting >>> ouster_msgs
Finished <<< ouster_msgs [2.34s]
Starting >>> ros2_ouster
--- stderr: ros2_ouster
CMake Error at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:62 (message):
common is required but boost was not found
Call Stack (most recent call first):
/usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:367 (pcl_report_not_found)
/usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
CMakeLists.txt:23 (find_package)
Failed <<< ros2_ouster [5.93s, exited with code 1]
Summary: 1 package finished [8.93s]
1 package failed: ros2_ouster
1 package had stderr output: ros2_ouster
I followed the same procedures on another computer, and the build was successful, which leads me to believe that I do have a dependency error. After confirming with rosdep install --from-paths src within the ros2_ouster directory, I still result in the same error. After searching the issues within this repository, I referenced #111 thinking I'm missing the PointCloud Library (PCL), but it seems the issue goes deeper. I wonder if there's an issue with the architecture of the Jetson - which uses ARM64 as opposed to x86_64.
Would I be able to receive guidance on if there's something I can do the CMakeLists.txt file to support ARM64?
It may be possible some of your dependencies are not binaries on ARM or arent working with the right versions
Steve,
I'm grateful for your lightning-fast response. I've figured that could also be the case. NVIDIA Jetsons have a tendency to have proprietary versions of the same libraries that come baked into their images, so I'm intending on trying to remake a new image for my Jetson and try recompiling from source.
For reference, is there a list of dependencies I can look at to make sure I've got all my ducks in a row?
The package.xml file would be it! You can cross reference any non-ros-named keys in the ros/rosdistro repo for your particular distribution for urls to source (if nonobvious)
Sweet! I'll let you know of any updates. Hopefully, it'll be one that allows me to close this issue. 👍
Hi there,
So I flashed the Jetson once again and pulled from master once again. Now, it looks like it can detect boost within the common for PCLConfig; however, upon a new build attempt, I result with a new error, shown below:
Starting >>> ouster_msgs
Finished <<< ouster_msgs [2.53s]
Starting >>> ros2_ouster
[Processing: ros2_ouster]
--- stderr: ros2_ouster
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/sensor_tins.cpp:19:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor_tins.hpp:18:10: fatal error: tins/packet.h: No such file or directory
18 | #include <tins/packet.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ouster_driver_core.dir/build.make:115: CMakeFiles/ouster_driver_core.dir/src/sensor_tins.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/driver_types.cpp:20:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor_tins.hpp:18:10: fatal error: tins/packet.h: No such file or directory
18 | #include <tins/packet.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ouster_driver_core.dir/build.make:63: CMakeFiles/ouster_driver_core.dir/src/driver_types.cpp.o] Error 1
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/ouster_driver.cpp:28:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor_tins.hpp:18:10: fatal error: tins/packet.h: No such file or directory
18 | #include <tins/packet.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/ouster_driver_core.dir/build.make:76: CMakeFiles/ouster_driver_core.dir/src/ouster_driver.cpp.o] Error 1
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/image_processor.hpp:26,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/processor_factories.hpp:23,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor.hpp:21,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/sensor.cpp:20:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:194:26: error: ‘PointCloud2’ in namespace ‘sensor_msgs::msg’ does not name a type
194 | inline sensor_msgs::msg::PointCloud2 toMsg(
| ^~~~~~~~~~~
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/processor_factories.hpp:25,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor.hpp:21,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/sensor.cpp:20:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/pointcloud_processor.hpp: In member function ‘virtual bool sensor::PointcloudProcessor::process(const uint8_t*, uint64_t)’:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/pointcloud_processor.hpp:117:28: error: no matching function for call to ‘toMsg(pcl::PointCloud<ouster_ros::Point>&, std::chrono::nanoseconds, std::string&, const uint64_t&)’
117 | _frame, override_ts));
| ^
In file included from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/image_processor.hpp:26,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/processors/processor_factories.hpp:23,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/sensor.hpp:21,
from /home/jackal/ros2_ouster_drivers/ros2_ouster/src/sensor.cpp:20:
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:84:35: note: candidate: ‘ouster_msgs::msg::Metadata ros2_ouster::toMsg(const ros2_ouster::Metadata&)’
84 | inline ouster_msgs::msg::Metadata toMsg(const ros2_ouster::Metadata & mdata)
| ^~~~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:84:35: note: candidate expects 1 argument, 4 provided
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:104:45: note: candidate: ‘geometry_msgs::msg::TransformStamped ros2_ouster::toMsg(const Eigen::Matrix<double, 4, 4, 2>&, const string&, const string&, const rclcpp::Time&)’
104 | inline geometry_msgs::msg::TransformStamped toMsg(
| ^~~~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:105:57: note: no known conversion for argument 1 from ‘pcl::PointCloud<ouster_ros::Point>’ to ‘const Eigen::Matrix<double, 4, 4, 2>&’
105 | const Eigen::Matrix<double, 4, 4, Eigen::DontAlign> & mat, const std::string & frame,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:135:30: note: candidate: ‘sensor_msgs::msg::Imu ros2_ouster::toMsg(const uint8_t*, const string&, const ouster::sensor::packet_format&, uint64_t)’
135 | inline sensor_msgs::msg::Imu toMsg(
| ^~~~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:136:19: note: no known conversion for argument 1 from ‘pcl::PointCloud<ouster_ros::Point>’ to ‘const uint8_t*’ {aka ‘const unsigned char*’}
136 | const uint8_t * buf,
| ~~~~~~~~~~~~~~~~^~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:210:36: note: candidate: ‘sensor_msgs::msg::LaserScan ros2_ouster::toMsg(ouster::LidarScan, std::chrono::nanoseconds, const string&, const ouster::sensor::sensor_info&, uint8_t, uint64_t)’
210 | inline sensor_msgs::msg::LaserScan toMsg(
| ^~~~~
/home/jackal/ros2_ouster_drivers/ros2_ouster/include/ros2_ouster/conversions.hpp:210:36: note: candidate expects 6 arguments, 4 provided
make[2]: *** [CMakeFiles/ouster_driver_core.dir/build.make:102: CMakeFiles/ouster_driver_core.dir/src/sensor.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:115: CMakeFiles/ouster_driver_core.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed <<< ros2_ouster [48.5s, exited with code 2]
Summary: 1 package finished [51.9s]
1 package failed: ros2_ouster
1 package had stderr output: ros2_ouster
At first, I thought maybe my Pointcloud Library isn't installed, but when running find / -iname *libpcl*, they appear in the expected directories:
/usr/share/doc/libpcl-io1.10
/usr/share/doc/libpcl-conversions-dev
/usr/share/doc/libpcl-visualization1.10
/usr/share/doc/libpcl-tracking1.10
/usr/share/doc/libpcl-segmentation1.10
/usr/share/doc/libpcl-stereo1.10
/usr/share/doc/libpcl-msgs-dev
/usr/share/doc/libpcl-dev
/usr/share/doc/libpcl-sample-consensus1.10
/usr/share/doc/libpcl-octree1.10
/usr/share/doc/libpcl-ml1.10
/usr/share/doc/libpcl-features1.10
/usr/share/doc/libpcl-recognition1.10
/usr/share/doc/libpcl-apps1.10
/usr/share/doc/libpcl-registration1.10
/usr/share/doc/libpcl-outofcore1.10
/usr/share/doc/libpcl-filters1.10
/usr/share/doc/libpcl-surface1.10
/usr/share/doc/libpcl-kdtree1.10
/usr/share/doc/libpcl-people1.10
/usr/share/doc/libpcl-search1.10
/usr/share/doc/libpcl-common1.10
/usr/share/doc/libpcl-keypoints1.10
/usr/lib/aarch64-linux-gnu/libpcl_apps.so
/usr/lib/aarch64-linux-gnu/libpcl_keypoints.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_io_ply.so
/usr/lib/aarch64-linux-gnu/libpcl_visualization.so
/usr/lib/aarch64-linux-gnu/libpcl_keypoints.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_sample_consensus.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_visualization.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_outofcore.so
/usr/lib/aarch64-linux-gnu/libpcl_tracking.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_stereo.so
/usr/lib/aarch64-linux-gnu/libpcl_recognition.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_common.so
/usr/lib/aarch64-linux-gnu/libpcl_people.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_surface.so
/usr/lib/aarch64-linux-gnu/libpcl_ml.so
/usr/lib/aarch64-linux-gnu/libpcl_common.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_filters.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_features.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_search.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_features.so
/usr/lib/aarch64-linux-gnu/libpcl_ml.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_ml.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_registration.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_apps.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_outofcore.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_stereo.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_octree.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_surface.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_recognition.so
/usr/lib/aarch64-linux-gnu/libpcl_sample_consensus.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_people.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_filters.so
/usr/lib/aarch64-linux-gnu/libpcl_kdtree.so
/usr/lib/aarch64-linux-gnu/libpcl_io_ply.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_segmentation.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_visualization.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_segmentation.so
/usr/lib/aarch64-linux-gnu/libpcl_tracking.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_octree.so
/usr/lib/aarch64-linux-gnu/libpcl_outofcore.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_io.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_registration.so
/usr/lib/aarch64-linux-gnu/libpcl_kdtree.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_io_ply.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_filters.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_stereo.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_search.so
/usr/lib/aarch64-linux-gnu/libpcl_io.so
/usr/lib/aarch64-linux-gnu/libpcl_io.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_kdtree.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_keypoints.so
/usr/lib/aarch64-linux-gnu/libpcl_segmentation.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_people.so
/usr/lib/aarch64-linux-gnu/libpcl_recognition.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_surface.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_apps.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_octree.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_sample_consensus.so
/usr/lib/aarch64-linux-gnu/libpcl_features.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_registration.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_common.so.1.10.0
/usr/lib/aarch64-linux-gnu/libpcl_search.so.1.10
/usr/lib/aarch64-linux-gnu/libpcl_tracking.so
Any help on this would be greatly appreciated - my brain has been wracked all night on this now with the PCLConfig error no longer being present.
Addendum 1. Tins wasn't installed, so I installed using sudo apt install libtins-dev. This resolved the first three errors, but all others are outstanding.
It's fixed!
Apparently, rosdep install doesn't seem to pick up ros-(version)-pcl-ros and ros-(version)-pcl-conversions as requisite dependencies to build the ros2_ouster package, resulting in this error. Installing them respectively resolved the problem, and I now have a completely built package.
I'll be closing this issue now. Thanks!
Briefly opening this because I found a surefire way of resolving the error shown about PCLConfig (for me, at least.)
When rebuilding after a config change, I ran into the error again. I went through the PCLConfig.cmake file because now, at this point, the error falls entirely on PCLConfig being unable to find boost.
In the cmake file, there's a set() for finding boost with the environment variable NO_BOOST_CMAKE. Here's the snippet:
# Disable the config mode of find_package(Boost)
set(Boost_NO_BOOST_CMAKE ON)
find_package(Boost 1.55.0 ${QUIET_} COMPONENTS system filesystem date_time iostreams)
My solution was to just outright remove that set(), and disable the ${QUIET_} within find_package. Suddenly, it worked. Here's the code I replaced:
# Disable the config mode of find_package(Boost)
find_package(Boost 1.55.0 COMPONENTS system filesystem date_time iostreams)
Addmittedly, not sure why this works, but as they say in software engineering: if it works, don't question it. In case someone else has this problem with their Jetson, they should try this and hopefully it'll work.