Docker Build Error: L4T - Jetson Orin. Failed at libdraco-dev and ./ZED_SDK_Linux_JP.run: No such file or directory

[byu-awesome-rover]

Preliminary Checks

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• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

I am trying to build a docker image for my jetson orin running jetpack 5.1.2 (l4t 35.4.1) I am just using the script to build the image:
./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk-4.2.3

Is there a min version of l4t?

Steps to Reproduce

1. Using Jetson Orin with jetpack 5.1.2
2. cloned the repo
3. ran the scrip ./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk-4.2.3
   ...

Expected Result

The image should have built properly

Actual Result

./jetson_build_dockerfile_from_sdk_and_l4T_version.sh l4t-r35.4.1 zedsdk-4.2.3
rm: cannot remove './tmp_sources': No such file or directory
35 4
Building dockerfile for l4t-r35.4.1 and ZED SDK zedsdk-4.2.3
[+] Building 52.5s (10/20) docker:default
=> [internal] load build definition from Dockerfile.l4t-humble 0.0s
=> => transferring dockerfile: 5.31kB 0.0s
=> [internal] load metadata for docker.io/dustynv/ros:humble-ros-base-l4t-r35.4.1 0.6s
=> [auth] dustynv/ros:pull token for registry-1.docker.io 0.0s
=> [internal] load .dockerignore 0.0s
=> => transferring context: 2B 0.0s
=> CACHED [ 1/15] FROM docker.io/dustynv/ros:humble-ros-base-l4t-r35.4.1@sha256:e9761a81548fb7b9f4b9c71ada4ea940839bb2c02ef2cfe1a2b41c903a2f14a0 0.0s
=> [internal] load build context 0.1s
=> => transferring context: 1.59MB 0.1s
=> [ 2/15] RUN if [ "$(curl -I "https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Tegra_L4T35.4_v4.2.3.zstd.run" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; t 0.5s
=> [ 3/15] RUN apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 42D5A192B819C5DA || true && apt-get update || true && apt-get install -y --no-install-recommends apt-utils dialog && r 16.8s
=> [ 4/15] RUN ln -snf /usr/share/zoneinfo/Europe/Paris /etc/localtime && echo Europe/Paris > /etc/timezone && apt-get update && apt-get install --yes lsb-release wget less udev sudo build-e 22.8s
=> ERROR [ 5/15] RUN echo "# R35 (release), REVISION: 4" > /etc/nv_tegra_release && apt-get update -y || true && apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 11.6s

[ 5/15] RUN echo "# R35 (release), REVISION: 4" > /etc/nv_tegra_release && apt-get update -y || true && apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev libgeographic-dev libdraco-dev zlib1g-dev -y && pip install protobuf && wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run https://stereolabs.sfo2.cdn.digitaloceanspaces.com/zedsdk/4.2/ZED_SDK_Tegra_L4T35.4_v4.2.3.zstd.run && chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && rm -rf /usr/local/zed/resources/* && rm -rf ZED_SDK_Linux_JP.run && rm -rf /var/lib/apt/lists/*:
0.564 Get:1 http://packages.ros.org/ros2/ubuntu focal InRelease [4,685 B]
0.582 Get:2 https://repo.download.nvidia.com/jetson/common r35.4 InRelease [2,555 B]
0.707 Get:3 http://ports.ubuntu.com/ubuntu-ports focal InRelease [265 kB]
0.781 Get:4 http://packages.ros.org/ros2/ubuntu focal/main arm64 Packages [1,175 kB]
0.932 Get:5 https://repo.download.nvidia.com/jetson/common r35.4/main arm64 Packages [19.6 kB]
1.338 Get:6 http://ports.ubuntu.com/ubuntu-ports focal-updates InRelease [128 kB]
1.495 Get:7 http://ports.ubuntu.com/ubuntu-ports focal-backports InRelease [128 kB]
1.651 Get:8 http://ports.ubuntu.com/ubuntu-ports focal-security InRelease [128 kB]
1.809 Get:9 http://ports.ubuntu.com/ubuntu-ports focal/universe arm64 Packages [11.1 MB]
3.580 Get:10 http://ports.ubuntu.com/ubuntu-ports focal/multiverse arm64 Packages [139 kB]
3.582 Get:11 http://ports.ubuntu.com/ubuntu-ports focal/main arm64 Packages [1,234 kB]
3.768 Get:12 http://ports.ubuntu.com/ubuntu-ports focal/restricted arm64 Packages [1,317 B]
3.768 Get:13 http://ports.ubuntu.com/ubuntu-ports focal-updates/restricted arm64 Packages [67.6 kB]
3.781 Get:14 http://ports.ubuntu.com/ubuntu-ports focal-updates/universe arm64 Packages [1,500 kB]
4.016 Get:15 http://ports.ubuntu.com/ubuntu-ports focal-updates/multiverse arm64 Packages [25.1 kB]
4.258 Get:16 http://ports.ubuntu.com/ubuntu-ports focal-updates/main arm64 Packages [3,677 kB]
5.629 Get:17 http://ports.ubuntu.com/ubuntu-ports focal-backports/universe arm64 Packages [27.8 kB]
5.636 Get:18 http://ports.ubuntu.com/ubuntu-ports focal-backports/main arm64 Packages [54.8 kB]
5.644 Get:19 http://ports.ubuntu.com/ubuntu-ports focal-security/universe arm64 Packages [1,207 kB]
5.952 Get:20 http://ports.ubuntu.com/ubuntu-ports focal-security/main arm64 Packages [3,282 kB]
6.506 Get:21 http://ports.ubuntu.com/ubuntu-ports focal-security/restricted arm64 Packages [61.7 kB]
6.517 Get:22 http://ports.ubuntu.com/ubuntu-ports focal-security/multiverse arm64 Packages [18.1 kB]
6.796 Fetched 24.3 MB in 6s (3,801 kB/s)
6.796 Reading package lists...
8.801 Reading package lists...
10.75 Building dependency tree...
11.32 Reading state information...
11.47 E: Unable to locate package libdraco-dev
11.47 /bin/bash: ./ZED_SDK_Linux_JP.run: No such file or directory

---

Dockerfile.l4t-humble:53

52 |
53 | >>> RUN echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release &&
54 | >>> apt-get update -y || true &&
55 | >>> apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2
56 | >>> build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev \
57 | >>> libgeographic-dev libdraco-dev zlib1g-dev -y &&
58 | >>> pip install protobuf &&
59 | >>> wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run
60 | >>> ${ZED_SDK_URL} &&
61 | >>> chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools &&
62 | >>> rm -rf /usr/local/zed/resources/* &&
63 | >>> rm -rf ZED_SDK_Linux_JP.run &&
64 | >>> rm -rf /var/lib/apt/lists/*
65 |

ERROR: failed to solve: process "/bin/bash -c echo "# R${L4T_MAJOR} (release), REVISION: ${L4T_MINOR}" > /etc/nv_tegra_release && apt-get update -y || true && apt-get install -y --no-install-recommends zstd wget less cmake curl gnupg2 build-essential python3 python3-pip python3-dev python3-setuptools libusb-1.0-0-dev libgeographic-dev libdraco-dev zlib1g-dev -y && pip install protobuf && wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run ${ZED_SDK_URL} && chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && rm -rf /usr/local/zed/resources/* && rm -rf ZED_SDK_Linux_JP.run && rm -rf /var/lib/apt/lists/*" did not complete successfully: exit code: 127

ZED Camera model

ZED2

Environment

OS: Jetpack 5.1.2
CPU: ARM
GPU: Jetson Orin 
ZED_SDK: 4.2.3

Anything else?

No response

[Dave-van-der-Meer]

Hi,

I am having the same issue using the ZED-Box based on the Jetson Zavier NX.
I could also narrow it down to the libdraco-dev library.

On the host, when I search for this package, it cannot find it.

$ apt search libdraco-dev
Sorting... Done
Full Text Search... Done

I also use Jetpack 5.1.2 and I tried with ZED_SDK 4.1.3 and with ZED_SDK 4.2.3.

Is there any news on how to resolve this? Is there a timeline for the bug fix?
If you need more information, please let me know.

With kind regards,
Dave

[Myzhar]

You could consider installing it from the source:
https://github.com/google/draco

[Dave-van-der-Meer]

Indeed, I can install it from source. So I did.

When reaching the stage where it builds the ROS 2 packages, it fails. Here is the summary:

Summary: 30 packages finished [2min 51s]
  1 package failed: point_cloud_transport
  3 packages aborted: ament_cmake_mypy geographic_msgs zed_msgs
  17 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 point_cloud_transport xacro
  20 packages not processed

I do not know if it is related to the draco library, but since point_cloud_transport fails, I assume it is related.

[Myzhar]

What's the build error? Can you share the full build report?

[Dave-van-der-Meer]

Here is the terminal output when I try to compile the point_cloud_transport package alone:

root@xavier01:~/ros2_ws# 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' --packages-select point_cloud_transport
Starting >>> point_cloud_transport
[  5%] Building CXX object gtest/CMakeFiles/gtest_main.dir/src/gtest_main.cc.o
[  5%] Building CXX object gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
[ 10%] Building CXX object CMakeFiles/point_cloud_transport.dir/src/point_cloud_codec.cpp.o
[ 10%] Building CXX object CMakeFiles/republish.dir/rclcpp_components/node_main_republish.cpp.o
In file included from /root/ros2_ws/src/point_cloud_transport/point_cloud_transport/include/point_cloud_transport/point_cloud_codec.hpp:45,
                 from /root/ros2_ws/src/point_cloud_transport/point_cloud_transport/src/point_cloud_codec.cpp:40:
/root/ros2_ws/src/point_cloud_transport/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp:41:10: fatal error: rcpputils/tl_expected/expected.hpp: No such file or directory
   41 | #include <rcpputils/tl_expected/expected.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/point_cloud_transport.dir/build.make:76: CMakeFiles/point_cloud_transport.dir/src/point_cloud_codec.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:181: CMakeFiles/point_cloud_transport.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 12%] Linking CXX static library libgtest_main.a
[ 12%] Built target gtest_main
[ 15%] Linking CXX executable republish
[ 15%] Built target republish
[Processing: point_cloud_transport]
[ 17%] Linking CXX static library libgtest.a
[ 17%] Built target gtest
make: *** [Makefile:146: all] Error 2
--- stderr: point_cloud_transport
In file included from /root/ros2_ws/src/point_cloud_transport/point_cloud_transport/include/point_cloud_transport/point_cloud_codec.hpp:45,
                 from /root/ros2_ws/src/point_cloud_transport/point_cloud_transport/src/point_cloud_codec.cpp:40:
/root/ros2_ws/src/point_cloud_transport/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp:41:10: fatal error: rcpputils/tl_expected/expected.hpp: No such file or directory
   41 | #include <rcpputils/tl_expected/expected.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/point_cloud_transport.dir/build.make:76: CMakeFiles/point_cloud_transport.dir/src/point_cloud_codec.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:181: CMakeFiles/point_cloud_transport.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:146: all] Error 2
---
Failed   <<< point_cloud_transport [37.7s, exited with code 2]

Summary: 0 packages finished [38.5s]
  1 package failed: point_cloud_transport
  1 package had stderr output: point_cloud_transport

If you need specific .log files from the ros2_ws/log directory, please let me know.

[Dave-van-der-Meer]

Also, is it possible that the humble version of the base image l4t-r35.4.1 from docker.io/dustynv/ros:humble-ros-base-l4t-r35.4.1 is no longer available? I can no longer find it in the list on the Docker Hub page.

[Myzhar]

There are a few available images for ROS 2 Humble on L4T 35.4.1:

• humble-ros-base-l4t-r35.4.1
• humble-ros-core-l4t-r35.4.1
• humble-llm-r35.4.1
• humble-desktop-pytorch-l4t-r35.4.1
• humble-desktop-l4t-r35.4.1

[leroycorentin]

Hi, I had the same issue and I found some ways to solve it. I created PR #337 so even if it is not merged by Stereolabs I hope it can help you @byu-awesome-rover @Dave-van-der-Meer.

[github-actions]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment otherwise it will be automatically closed in 5 days

[leroycorentin]

Commenting so it doesn't get closed...