undefined symbol: _ZN2cv3MatC1Ev #2467

arpaterson · 2022-09-03T22:50:21Z

I have done a source build of realsense-ros and librealsense (native backend + CUDA, but SKIPPING the kernel patches) on a nvidia AGX Orin.
It was suggested here that this might work.
I am getting undefined symbol: _ZN2cv3MatC1Ev when trying to launch.

Output of uname -a

Linux orin-devkit 5.10.65-tegra #1 SMP PREEMPT Mon May 16 20:58:07 PDT 2022 aarch64 aarch64 aarch64 GNU/Linux

Output with launching rs_rgbd.launch or rs_camera.launch

[ INFO] [1662238035.921341031]: Done Setting Dynamic reconfig parameters.
/opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/sacvp-user/git/scaled-acv/sacvp/on-the-device/ros/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev
[camera/realsense2_camera_manager-4] process has died [pid 2467862, exit code 127, cmd /opt/ros/noetic/lib/nodelet/nodelet manager __name:=realsense2_camera_manager __log:=/home/sacvp-user/.ros/log/93f38000-2bc9-11ed-a8a8-ec63d76dedb8/camera-realsense2_camera_manager-4.log].
log file: /home/sacvp-user/.ros/log/93f38000-2bc9-11ed-a8a8-ec63d76dedb8/camera-realsense2_camera_manager-4*.log
[camera/points_xyzrgb_hw_registered-7] process has finished cleanly

I think this might be related.

The text was updated successfully, but these errors were encountered:

arpaterson · 2022-09-03T23:02:43Z

I noticed I have /usr/local/lib/librealsense.so.2.51.
It seems I used the -b option git checkout -b v2.50.0 and created a local branch "v.2.50.0" pointing at the current HEAD (v2.51).

Cleaning up and using git checkout v2.50.0...

... did not resolve this.

arpaterson · 2022-09-04T01:13:58Z

And neither did building with the RS_USB backend.

the rosdep/apt installed ros-noetic-realsense2-camera and ros-noetic-librealsense2 work, but I need to build with CUDA, and preferably the native backend.

MartyG-RealSense · 2022-09-04T07:17:12Z

Hi @arpaterson If you install librealsense and the RealSense ROS wrapper together from packages with the wrapper's Method 1 instructions then the packages will be based on the RSUSB backend and not contain CUDA support. However, CUDA support accelerates just three types of function: color conversion, depth-color alignment and pointcloud. So unless you are setting align_depth to true or using the pointcloud filter, having CUDA support enabled in librealsense is unlikely to provide a performance benefit.

At #2326 where the error undefined symbol: _ZN2cv3MatC1Ev occurred on a Jetson Xavier NX, a RealSense ROS user at #2326 (comment) suggested a solution that solved the error in that particular case.

arpaterson · 2022-09-05T01:02:20Z

I am currently setting align_depth true, although I am unsure if I will continue to do that. This ROS project uses an AGX orin now, but should also run on a nano.

MartyG-RealSense · 2022-09-05T10:14:09Z

Have you had the opportunity to try the solution at #2326 (comment) which states that it can work with RSUSB = false (native backend).

Whilst CUDA support is not included when installing from packages with the ROS wrapper's Method 1 instructions, it is included if you build librealsense and the ROS wrapper separately (librealsense from Jetson packages or source code, the ROS wrapper from source code). Instructions for installing librealsense from packages on Jetson are at the link below.

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md#4-install-with-debian-packages

CUDA support is automatically included in the librealsense packages. If librealsense is built from source code with CMake then you can add CUDA support by including -DBUILD_WITH_CUDA=true in the CMake build instruction.

arpaterson · 2022-09-05T12:34:15Z

I will try that shortly, however from today until the 18th I will not have the equipment.

I will come back to this on my return

MartyG-RealSense · 2022-09-05T12:47:41Z

Thanks very much @arpaterson for the update. I look forward to your next report. Good luck!

arpaterson · 2022-09-05T13:03:29Z

To clarify:

In the jetson instructions, we are referred to the ubuntu instructions
"Follow the Ubuntu installation guide to install the missing components and configuration items:"

for ubuntu20.04 the ubuntu guide suggests
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
I think I missed this step before.

And then returning to the jetson instructions
sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev -y

runing the udev script, configure and make

Am I following that correctly?
is it necessary to install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at?

MartyG-RealSense · 2022-09-05T13:42:18Z

My interpretation of the instructions would be as follows.

Use the instruction below to install core packages required to install the librealsense binaries:

sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev

Use the instruction below to install distribution-specific packages for Ubuntu 20:

sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

Run the Intel Realsense permissions script from the librealsense root directory:

./scripts/setup_udev_rules.sh

The installation instructions state that libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev are necessary if you want to build the SDK with support for OpenGL-enabled graphical examples, otherwise the core SDK will be configured for a headless environment without a graphics display.

arpaterson · 2022-09-05T16:49:50Z

OK, yes I picked that up after re-reading the instructions.
I proceed with the packages installed for graphical examples.

I added:
find_package( OpenCV REQUIRED)

and modified:

include_directories(
    include
    ${realsense2_INCLUDE_DIR}
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    )

target_link_libraries(${PROJECT_NAME}
    ${realsense2_LIBRARY}
    ${catkin_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
    #{OpenCV_LIBRARIES}
    )

But I still have this error when launching rs_rgbd.

In the realsense2_camera build output everything looks normal except for:

-- Set runtime path of "/home/sacvp-user/catkin_ws/install/lib/librealsense2_camera.so" to ""

It is the right track though, OpenCV is not being linked.

My full realsense2_camera CMakeLists:

cmake_minimum_required(VERSION 2.8.3)
project(realsense2_camera)
add_compile_options(-std=c++11)

option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)

add_definitions(-D_CRT_SECURE_NO_WARNINGS)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)

find_package(catkin REQUIRED COMPONENTS
    message_generation
    nav_msgs
    roscpp
    sensor_msgs
    std_msgs
    std_srvs
    nodelet
    cv_bridge
    image_transport
    tf
    ddynamic_reconfigure
    diagnostic_updater
    )

find_package(OpenCV REQUIRED)

if(BUILD_WITH_OPENMP)
    find_package(OpenMP)
    if(NOT OpenMP_FOUND)
        message(FATAL_ERROR "\n\n OpenMP is missing!\n\n")
    else()
        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp")
        set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
    endif()
endif()

if(SET_USER_BREAK_AT_STARTUP)
	message("GOT FLAG IN CmakeLists.txt")
	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG")
endif()

if (WIN32)
find_package(realsense2 CONFIG REQUIRED)
else()
find_package(realsense2 2.50.0)
endif()

if(NOT realsense2_FOUND)
    message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
endif()

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()

string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
if (${uppercase_CMAKE_BUILD_TYPE} STREQUAL "RELEASE")
    message(STATUS "Create Release Build.")
    set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}")
else()
    message(STATUS "Create Debug Build.")
endif()

if (WIN32)
else()
set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
endif()

add_message_files(
    FILES
    IMUInfo.msg
    Extrinsics.msg
    Metadata.msg
    )

add_service_files(
    FILES
    DeviceInfo.srv
)

generate_messages(
    DEPENDENCIES
    sensor_msgs
    std_msgs
    )

set(CMAKE_NO_SYSTEM_FROM_IMPORTED true)
include_directories(
    include
    ${realsense2_INCLUDE_DIR}
    ${catkin_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    )

# RealSense ROS Node
catkin_package(
    LIBRARIES ${PROJECT_NAME}
    CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs
    nodelet
    cv_bridge
    image_transport
    ddynamic_reconfigure
    nav_msgs
    )

add_library(${PROJECT_NAME}
    include/constants.h
    include/realsense_node_factory.h
    include/base_realsense_node.h
    include/t265_realsense_node.h
    src/realsense_node_factory.cpp
    src/base_realsense_node.cpp
    src/t265_realsense_node.cpp
    )

add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

target_include_directories(${PROJECT_NAME}
  PRIVATE ${realsense2_INCLUDE_DIR})

target_link_libraries(${PROJECT_NAME}
    ${realsense2_LIBRARY}
    ${catkin_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
    #{OpenCV_LIBRARIES}
    )

if(WIN32)
set_target_properties(${realsense2_LIBRARY} PROPERTIES MAP_IMPORTED_CONFIG_RELWITHDEBINFO RELEASE)
target_link_libraries(${PROJECT_NAME}
    realsense2::realsense2 
    realsense2::realsense-file
    )
endif()


# Install nodelet library
install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    )

# Install header files
install(DIRECTORY include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    )

# Install launch files
install(DIRECTORY launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
    )

# Install rviz files
install(DIRECTORY rviz/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
    )

# Install xml files
install(FILES nodelet_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )

arpaterson · 2022-09-05T16:52:07Z

librealsense is built from source (realsense-viewer works)
apt ros-noetic-librealsense and ros-noetic-realsense2* are not installed.
realsense2_camera is in my ros catkin workspace

opencv4.5.0 is built from source
and the existing opencv from jetpack5 has not been replaced/removed.

Perhaps it is something to do with this?

MartyG-RealSense · 2022-09-06T10:38:18Z

The RealSense ROS wrapper does not support an RGBD launch by default and support for it has to be installed first before using the wrapper's rs_rgbd.launch launch file. Can you confirm if you have installed RGBD support, please? It can be done on Noetic using the instruction below.

sudo apt-get install ros-noetic-rgbd-launch

arpaterson · 2022-09-10T18:10:14Z

Yes, I have installed rgbd-launch Anthony Paterson On 6. Sep 2022, at 06:38, MartyG-RealSense ***@***.***> wrote: The RealSense ROS wrapper does not support an RGBD launch by default and support for it has to be installed first before using the wrapper's rs_rgbd.launch launch file. Can you confirm if you have installed RGBD support, please? It can be done on Noetic using the instruction below. sudo apt-get install ros-noetic-rgbd-launch

MartyG-RealSense · 2022-09-11T07:47:24Z

It was established earlier in this discussion at #2467 (comment) that librealsense and the RealSense Viewer were working correctly on Jetson Orin. However, the ROS wrapper has the undefined symbol error when launching.

As you suggest in the above link, it may be related to installing OpenCV 4.5.0 from source, since OpenCV installation is not a required step in the ROS wrapper install instructions.

MartyG-RealSense · 2022-09-17T07:15:19Z

Hi @arpaterson Do you require further assistance with this case, please? Thanks!

MartyG-RealSense · 2022-09-23T06:59:08Z

Case closed due to no further comments received.

arpaterson · 2022-10-03T10:00:01Z

Is it possible to reopen this?

MartyG-RealSense · 2022-10-03T10:02:43Z

Yes, it is fine to re-open it if you wish to resume the case.

arpaterson · 2022-10-03T10:46:13Z

Are there any requirements on opencv?
I have built openCV with CUDA, and it appears correctly in python3, jtop shows
OpenCV: compiled CUDA: YES.

The only thing I can see is the openGL support is not there "NO" in openCV build information.

General configuration for OpenCV 4.5.0 =====================================
  Version control:               4.5.0

  Extra modules:
    Location (extra):            /home/sacvp-user/git/opencv/opencv_contrib/modules
    Version control (extra):     4.5.0

  Platform:
    Timestamp:                   2022-09-05T09:30:27Z
    Host:                        Linux 5.10.104-tegra aarch64
    CMake:                       3.16.3
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               RELEASE

  CPU/HW features:
    Baseline:                    NEON FP16
      required:                  NEON
      disabled:                  VFPV3

  C/C++:
    Built as dynamic libs?:      YES
    C++ standard:                11
    C++ Compiler:                /usr/bin/c++  (ver 9.4.0)
    C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--gc-sections -Wl,--as-needed  
    Linker flags (Debug):        -Wl,--gc-sections -Wl,--as-needed  
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:          m pthread cudart_static dl rt nppc nppial nppicc nppidei nppif nppig nppim nppist nppisu nppitc npps cublas cudnn cufft -L/usr/local/cuda-11.4/lib64 -L/usr/lib/aarch64-linux-gnu
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy gapi hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow phase_unwrapping photo plot python3 quality rapid reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
    Disabled:                    python2 world
    Disabled by dependency:      -
    Unavailable:                 cnn_3dobj cvv hdf java js julia matlab ovis sfm ts viz
    Applications:                apps
    Documentation:               NO
    Non-free algorithms:         YES

  GUI: 
    GTK+:                        YES (ver 3.24.20)
      GThread :                  YES (ver 2.64.6)
      GtkGlExt:                  NO
    OpenGL support:              NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.0.10)
    JPEG 2000:                   build (ver 2.3.1)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      YES (2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (58.54.100)
      avformat:                  YES (58.29.100)
      avutil:                    YES (56.31.100)
      swscale:                   YES (5.5.100)
      avresample:                YES (4.0.0)
    GStreamer:                   YES (1.16.3)
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            TBB (ver 2020.1 interface 11101)

  Trace:                         YES (with Intel ITT)

  Other third-party libraries:
    Lapack:                      YES (/usr/lib/aarch64-linux-gnu/liblapack.so /usr/lib/aarch64-linux-gnu/libcblas.so /usr/lib/aarch64-linux-gnu/libatlas.so)
    Eigen:                       YES (ver 3.3.7)
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.5.1)

  NVIDIA CUDA:                   YES (ver 11.4, CUFFT CUBLAS FAST_MATH)
    NVIDIA GPU arch:             87
    NVIDIA PTX archs:

  cuDNN:                         YES (ver 8.4.1)

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.8.10)
    Libraries:                   /usr/lib/aarch64-linux-gnu/libpython3.8.so (ver 3.8.10)
    numpy:                       /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
    install path:                lib/python3.8/dist-packages/cv2/python-3.8

  Python (for build):            /usr/bin/python2.7

  Java:                          
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /usr/local
-----------------------------------------------------------------

MartyG-RealSense · 2022-10-03T14:30:08Z

Support for OpenGL graphics in librealsense on Jetson would be enabled by either building librealsense from source code with CMake and including the build term -DBUILD_GRAPHICAL_EXAMPLES=true, or building from packages and installing the 'librealsense-utils' package with the instruction sudo apt-get install librealsense2-utils

A non-RealSense discussion at mdegans/nano_build_opencv#51 provides advice about building OpenCV on Jetson Nano with OpenGL support.

arpaterson · 2022-10-05T13:11:45Z

I think I've solved this through a combination of

not making typos in CMakeLists.txt
understanding ros/catkin workspace sourcing better
compiling opencv properly (my script is basically the same as mdegans)

I don't have any clear learnings to share, but the problem is solved.

For the record heres what I did

Compiled opencv with CUDA, but no GTK, QT, or opengl support ( those lead to a different unrelated opencv compilation error, I cannot get opencv later than 4.5.0 to compile with opengl and GUI features on my orin due undefined reference to glXGetProcAddressARB() )
build librealsense with native backend and cuda, without patching the kernel.
included realsense-ros in my projects catkin workspace
modified realsense-ros CMakeLists.txt to find opencv and include it as per here
catkin_make'd it and sourced the workspace properly.

Additionally, I

made sure librealsense was not installed from apt. At one point I had run make, but not sudo make install. Removing the apt version of librealsense just avoided confusion as to which one was running.
made sure ros-noetic-realsense-ros was not installed from apt, for the same reason.

It is possible that between having apt installed versions, workspace sourcing, etc that I was not running the compiled version of librealsense.

Anyay, the changes to realsense-ros CMakeLists.txt works.

arpaterson · 2022-10-05T13:14:07Z

Just before closing this,
@MartyG-RealSense Do you have any idea what performance change/how much GPU usage I should see?
I'm not sure how to confirm that the Orin GPU is being utilized for the D455, and not just for desktop rendering.

I see almost none, and low framerates when connected over xrdp, but that is expected.

Connected to a monitor I see a solid 30FPS in rviz, up to 45 if uncapped.

MartyG-RealSense · 2022-10-05T13:23:19Z

That's excellent news that you achieved a solution. Thanks so much for sharing the details with the RealSense ROS community!

Below are some example figures for CPU vs GPU performance when using alignment with and without CUDA. The figures are a few years old but should provide a rough guide for expectations of reduction in CPU usage with CUDA.

At a recent case at IntelRealSense/librealsense#10911 a RealSense ROS user who was checking whether librealsense's CUDA support was enabled reported that if the GPU was being utilized then it would be registered in nvtop.

arpaterson · 2022-10-12T14:59:37Z

I will have a chance to look at nvtop this weekend. If I do not see the expected resource use I will reopen, or open another issue. Thank you again!

MartyG-RealSense · 2022-10-12T15:22:28Z

You are very welcome. I look forward to your next report. Good luck!

MartyG-RealSense · 2022-10-24T06:32:14Z

Hi @arpaterson Do you have an update about this case that you can provide, please? Thanks!

MartyG-RealSense · 2022-11-04T18:08:53Z

Case closed due to no further comments received.

arpaterson · 2022-11-07T11:14:00Z

nothing further at this point.

julioGSabka · 2023-09-18T19:49:11Z

Hey, @arpaterson, I solved this problem by modifying the Cmake.txt file from the realsense2_camera package
Add the find_package(OpenCV REQUIRED) line

cmake_minimum_required(VERSION 2.8.3)
project(realsense2_camera)
add_compile_options(-std=c++11)

option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)

find_package(OpenCV REQUIRED)
find_package(catkin REQUIRED COMPONENTS
message_generation
nav_msgs
roscpp
sensor_msgs
std_msgs
nodelet
cv_bridge
image_transport
tf
ddynamic_reconfigure
diagnostic_updater
OpenCV REQUIRED
)

if(BUILD_WITH_OPENMP)
find_package(OpenMP)
if(NOT OpenMP_FOUND)
message(FATAL_ERROR "\n\n OpenMP is missing!\n\n")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()
endif()

if(SET_USER_BREAK_AT_STARTUP)
message("GOT FLAG IN CmakeLists.txt")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG")
endif()

find_package(realsense2 2.29.0)
if(NOT realsense2_FOUND)
message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n")
endif()

if (CMAKE_BUILD_TYPE EQUAL "RELEASE")
message(STATUS "Create Release Build.")
set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}")
else()
message(STATUS "Create Debug Build.")
endif()

set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")

add_message_files(
FILES
IMUInfo.msg
Extrinsics.msg
)

generate_messages(
DEPENDENCIES
sensor_msgs
std_msgs
)

set(CMAKE_NO_SYSTEM_FROM_IMPORTED true)
include_directories(
include
${realsense2_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
)

RealSense ROS Node

catkin_package(
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs
nodelet
cv_bridge
image_transport
ddynamic_reconfigure
nav_msgs
)

add_library(${PROJECT_NAME}
include/constants.h
include/realsense_node_factory.h
include/base_realsense_node.h
include/t265_realsense_node.h
src/realsense_node_factory.cpp
src/base_realsense_node.cpp
src/t265_realsense_node.cpp
)

add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

target_include_directories(${PROJECT_NAME}
PRIVATE ${realsense2_INCLUDE_DIR})

target_link_libraries(${PROJECT_NAME}
${realsense2_LIBRARY}
${catkin_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
)

Install nodelet library

install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Install header files

install(DIRECTORY include/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

Install launch files

install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

Install rviz files

install(DIRECTORY rviz/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
)

Install xml files

install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

MartyG-RealSense added the question label Sep 4, 2022

MartyG-RealSense closed this as completed Sep 23, 2022

MartyG-RealSense reopened this Oct 3, 2022

MartyG-RealSense closed this as completed Nov 4, 2022

mesmerizingengineers mentioned this issue Jan 16, 2023

Pointcloud is not generating on Jetson Orin 5.0.2 #2575

Closed

kajananchinniah mentioned this issue Mar 20, 2023

Resolve symbol lookup issue by including opencv in cmakelist #2664

Closed

MartyG-RealSense mentioned this issue Jun 17, 2023

roslaunch rs_camera error in noetic #2784

Closed

MartyG-RealSense mentioned this issue Jul 8, 2023

librealsense+realsense_ros Jetson Orin nano IntelRealSense/librealsense#11977

Closed

ragor114 mentioned this issue Nov 27, 2023

Added steps to change CMakeLists.txt for RealSense installation dnovischi/jetson-tutorials#8

Open

MartyG-RealSense mentioned this issue Feb 23, 2024

symbol lookup error: /home/jetson/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev #3020

Closed

snix00125 mentioned this issue Jun 25, 2024

(messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: Resource temporarily unavailable, number: 11 #2386

Closed

MartyG-RealSense mentioned this issue Feb 12, 2025

running issue for D415 camera. #3299

Open

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undefined symbol: _ZN2cv3MatC1Ev #2467

undefined symbol: _ZN2cv3MatC1Ev #2467

arpaterson commented Sep 3, 2022 •

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MartyG-RealSense commented Sep 4, 2022

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MartyG-RealSense commented Oct 3, 2022 •

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julioGSabka commented Sep 18, 2023 •

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undefined symbol: _ZN2cv3MatC1Ev #2467

undefined symbol: _ZN2cv3MatC1Ev #2467

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arpaterson commented Sep 3, 2022 • edited Loading

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julioGSabka commented Sep 18, 2023 • edited Loading

Hey, @arpaterson, I solved this problem by modifying the Cmake.txt file from the realsense2_camera package Add the find_package(OpenCV REQUIRED) line

RealSense ROS Node

Install nodelet library

Install header files

Install launch files

Install rviz files

Install xml files

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julioGSabka commented Sep 18, 2023 •

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Hey, @arpaterson, I solved this problem by modifying the Cmake.txt file from the realsense2_camera package
Add the find_package(OpenCV REQUIRED) line