PSDK ROS2 Wrapper Installation

[mightymaxuk]

Hi,

Thanks very much for putting the wrapper together and sharing.

I'm trying to install ROS2 PSDK wrapper on a NVIDIA Jetson Nano, running Ubuntu 22.04. ROS2 Humble has been installed and works.

When installing PSDK Wrapper the build "psdk_interface" starts and finishes then when starting the "psdk_wrapper" build, after 3 mins, it hangs and doesn't change or update, this is the line it's stuck on..

[1/2 complete] psdk_wrapper:build 23% -18.4s]

This must be something I'm doing wrong, I've attempted the same install on Ubuntu 20.04 and got the exact same problem.

I've followed the installation instructions and made sure all the dependencies have been installed.

I would normally copy and paste the text but I cannot as the computer as crashed.

As this has happend on both ubuntu 20.04 and 22.04, I feel this is something I'm doing wrong?

Any input would be appreciated, I've tried this 3-5 times now on each ubuntu.

Matt.

[mightymaxuk]

"# Before building, check the Dependencies section and make sure you have everything installed"

where exactly are the dependencies supposed to get installed...."/psdk_ros2_ws"?

[mightymaxuk]

"Use ros2 pkg list to see a list of all visible packages"

When I "ros2 pkg list" I get the long list. All dependencies listed as required for ros2 are included in the list gernerated in the terminal.

[Bianca Bendris Greab]

Hi Max, thanks for your interest in the wrapper and sorry for the late reply.
What you are reporting is a weird behavior. I don't think it has anything to do with the Ubuntu version. It could be due to the fact that you are building for an ARM architecture on your Nvidia Jetson and not for AMD for example. However, we have tested the wrapper on an Nvidia Jetson and we did not had this issue. We will try to see if we can reproduce this behavior. In any case you should at least have an error being reported and not simply hanging on the build process.

"# Before building, check the Dependencies section and make sure you have everything installed"

where exactly are the dependencies supposed to get installed...."/psdk_ros2_ws"?

No. As explained here https://umdlife.github.io/psdk_ros2/documentation/GettingStarted.html#dependencies, there are ROS 2 dependencies and other generic libraries that need to be installed. These are installed with apt install commands.

The only thing we sometimes need to add depending on your installation method of libopus.a (library needed by the PSDK-SDK), is a symbolic link from where you have this library installed to /usr/local/lib. This is the path that the PSDK-SDK will search for this library.

[Alex Burka]

Unfortunately after installing all the packages listed on that page, the build still fails:

Starting >>> psdk_wrapper
--- stderr: psdk_wrapper                          
CMake Error at CMakeLists.txt:39 (find_package):
  By not providing "FindFFMPEG.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "FFMPEG", but
  CMake did not find one.

  Could not find a package configuration file provided by "FFMPEG" with any
  of the following names:

    FFMPEGConfig.cmake
    ffmpeg-config.cmake

  Add the installation prefix of "FFMPEG" to CMAKE_PREFIX_PATH or set
  "FFMPEG_DIR" to a directory containing one of the above files.  If "FFMPEG"
  provides a separate development package or SDK, be sure it has been
  installed.

Do you know what is still missing? This is my dockerfile:

FROM ros:humble

RUN apt update \
    && apt install -y --no-install-recommends \
        tmux libusb-1.0-0-dev libopus-dev ffmpeg libavcodec-dev libavformat-dev libavfilter-dev \
        ros-humble-rclcpp ros-humble-rclcpp-lifecycle ros-humble-tf2 ros-humble-tf2 ros-humble-sensor-msgs ros-humble-geometry-msgs ros-humble-std-msgs ros-humble-nav-msgs ros-humble-std-srvs \
    && rm -rf /var/lib/apt

VOLUME /var/ws/src
WORKDIR /var/ws

[Victor Massagué Respall]

It is not able to find the FindFFMPEG.cmake file which is hosted in Payload-SDK package from DJI. My guess is that you have an issue with the workspace setup. Remember both packages Payload-SDK and psdk_ros2 have to be in the same workspace, one alongside the other.