Install ZED ROS2 Wrapper on Jetson Xavier NX

Software ROS2
1

Hi, I’m trying to install the ROS 2 Wrapper on the Xavier NX.
I’m using JepPack 5.1.2 and try to build over docker the ROS Hummble.
The build failed with those errors :

[100%] Linking C shared library rosidl_generator_py/zed_msgs/zed_msgs_s__rosidl_typesupport_introspection_c.cpython-38-aarch64-linux-gnu.so
[100%] Linking C shared library rosidl_generator_py/zed_msgs/zed_msgs_s__rosidl_typesupport_c.cpython-38-aarch64-linux-gnu.so
[100%] Built target zed_msgs__rosidl_typesupport_fastrtps_c__pyext
[100%] Built target zed_msgs__rosidl_typesupport_introspection_c__pyext
[100%] Built target zed_msgs__rosidl_typesupport_c__pyext
Aborted  <<< zed_msgs [4min 35s]

Summary: 35 packages finished [6min 26s]
  1 package failed: point_cloud_transport
  5 packages aborted: diagnostic_aggregator diagnostic_updater geographic_msgs point_cloud_interfaces zed_msgs
  22 packages had stderr output: ament_clang_format ament_clang_tidy ament_copyright ament_cppcheck ament_cpplint ament_flake8 ament_lint ament_lint_cmake ament_mypy ament_pclint ament_pep257 ament_pycodestyle ament_pyflakes ament_uncrustify ament_xmllint diagnostic_aggregator geographic_msgs nmea_msgs point_cloud_interfaces point_cloud_transport xacro zed_msgs
  13 packages not processed
The command '/bin/bash -c /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash &&   colcon build --parallel-workers $(nproc) --symlink-install   --event-handlers console_direct+ --base-paths src   --cmake-args ' -DCMAKE_BUILD_TYPE=Release'   ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs'   ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'   ' --no-warn-unused-cli' "' returned a non-zero code: 2
jetson@jetson:~/Zed-Ros/zed-ros2-wrapper/docker$

Any suggestion how to move forword ? I dont have any limits to use different ROS version or different ZED SDK version.
Thanks

2

Hi @Roi
Welcome to the StereoLabs community.

point_cloud_transport is not available on Ubuntu 20.04.
Please remove from the dockerfile all the references to this package.

3

Thanks @Myzhar.
What about all the other issues ?

 5 packages aborted: diagnostic_aggregator diagnostic_updater geographic_msgs point_cloud_interfaces zed_msgs
  22 packages had stderr output: ament_clang_format ament_clang_tidy ament_copyright ament_cppcheck ament_cpplint ament_flake8 ament_lint ament_lint_cmake ament_mypy ament_pclint ament_pep257 ament_pycodestyle ament_pyflakes ament_uncrustify ament_xmllint diagnostic_aggregator geographic_msgs nmea_msgs point_cloud_interfaces point_cloud_transport xacro zed_msgs
  13 packages not processed
The command '/bin/bash -c /bin/bash -c "source /opt/ros/$ROS_DISTRO/install/setup.bash &&   colcon build --parallel-workers $(nproc) --symlink-install   --event-handlers console_direct+ --base-paths src   --cmake-args ' -DCMAKE_BUILD_TYPE=Release'   ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs'   ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"'   ' --no-warn-unused-cli' "' returned a non-zero code: 2

Is there any other version of the ZED wrapper that I can use for the Jetson Xavier NX ?
Or any idia how to solve all the other problems?

4

Hi @Roi
The other errors are related to the missing point_cloud_transport error.

You can simply comment these lines in the Docker file:

If you continue to face errors, please post the full log, which can contain useful information.